Centralize availables

lerobot/__init__.py

@@ -7,16 +7,22 @@ Example:
         import lerobot
         print(lerobot.available_envs)
         print(lerobot.available_tasks_per_env)
-        print(lerobot.available_datasets_per_env)
         print(lerobot.available_datasets)
         print(lerobot.available_policies)
+        print(lerobot.available_policies_per_env)
     ```
 
-When implementing a new dataset (e.g. `AlohaDataset`), policy (e.g. `DiffusionPolicy`), or environment, follow these steps:
+When implementing a new dataset class (e.g. `AlohaDataset`) follow these steps:
-- Set the required class attributes: `available_datasets`.
+- Update `available_datasets` in `lerobot/__init__.py`
-- Set the required class attributes: `name`.
+- Set the required `available_datasets` class attribute using the previously updated `lerobot.available_datasets`
-- Update variables in `lerobot/__init__.py` (e.g. `available_envs`, `available_datasets_per_envs`, `available_policies`)
+
-- Update variables in `tests/test_available.py` by importing your new class
+When implementing a new environment (e.g. `gym_aloha`), follow these steps:
+- Update `available_envs`, `available_tasks_per_env` and `available_datasets` in `lerobot/__init__.py`
+
+When implementing a new policy class (e.g. `DiffusionPolicy`) follow these steps:
+- Update `available_policies` in `lerobot/__init__.py`
+- Set the required `name` class attribute.
+- Update variables in `tests/test_available.py` by importing your new Policy class
 """
 
 from lerobot.__version__ import __version__  # noqa: F401
@@ -36,7 +42,7 @@ available_tasks_per_env = {
     "xarm": ["XarmLift-v0"],
 }
 
-available_datasets_per_env = {
+available_datasets = {
     "aloha": [
         "aloha_sim_insertion_human",
         "aloha_sim_insertion_scripted",
@@ -47,10 +53,23 @@ available_datasets_per_env = {
     "xarm": ["xarm_lift_medium"],
 }
 
-available_datasets = [dataset for env in available_envs for dataset in available_datasets_per_env[env]]
-
 available_policies = [
     "act",
     "diffusion",
     "tdmpc",
 ]
+
+available_policies_per_env = {
+    "aloha": ["act"],
+    "pusht": ["diffusion"],
+    "xarm": ["tdmpc"],
+}
+
+env_task_pairs = [(env, task) for env, tasks in available_tasks_per_env.items() for task in tasks]
+env_dataset_pairs = [(env, dataset) for env, datasets in available_datasets.items() for dataset in datasets]
+env_dataset_policy_triplets = [
+    (env, dataset, policy)
+    for env, datasets in available_datasets.items()
+    for dataset in datasets
+    for policy in available_policies_per_env[env]
+]

lerobot/common/datasets/aloha.py

@@ -3,6 +3,7 @@ from pathlib import Path
 import torch
 from datasets import load_dataset, load_from_disk
 
+import lerobot
 from lerobot.common.datasets.utils import load_previous_and_future_frames
 
 
@@ -14,12 +15,7 @@ class AlohaDataset(torch.utils.data.Dataset):
     https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_scripted
     """
 
-    available_datasets = [
+    available_datasets = lerobot.available_datasets["aloha"]
-        "aloha_sim_insertion_human",
-        "aloha_sim_insertion_scripted",
-        "aloha_sim_transfer_cube_human",
-        "aloha_sim_transfer_cube_scripted",
-    ]
     fps = 50
     image_keys = ["observation.images.top"]
 

lerobot/common/datasets/pusht.py

@@ -3,6 +3,7 @@ from pathlib import Path
 import torch
 from datasets import load_dataset, load_from_disk
 
+import lerobot
 from lerobot.common.datasets.utils import load_previous_and_future_frames
 
 
@@ -17,7 +18,7 @@ class PushtDataset(torch.utils.data.Dataset):
         If `None`, no shift is applied to current timestamp and the data from the current frame is loaded.
     """
 
-    available_datasets = ["pusht"]
+    available_datasets = lerobot.available_datasets["pusht"]
     fps = 10
     image_keys = ["observation.image"]
 

lerobot/common/datasets/xarm.py

@@ -3,6 +3,7 @@ from pathlib import Path
 import torch
 from datasets import load_dataset, load_from_disk
 
+import lerobot
 from lerobot.common.datasets.utils import load_previous_and_future_frames
 
 
@@ -11,9 +12,7 @@ class XarmDataset(torch.utils.data.Dataset):
     https://huggingface.co/datasets/lerobot/xarm_lift_medium
     """
 
-    available_datasets = [
+    available_datasets = lerobot.available_datasets["xarm"]
-        "xarm_lift_medium",
-    ]
     fps = 15
     image_keys = ["observation.image"]
 

lerobot/common/import_utils.py

@@ -0,0 +1,44 @@
+import importlib
+import logging
+
+
+def is_package_available(pkg_name: str, return_version: bool = False) -> tuple[bool, str] | bool:
+    """Copied from https://github.com/huggingface/transformers/blob/main/src/transformers/utils/import_utils.py
+    Check if the package spec exists and grab its version to avoid importing a local directory.
+    **Note:** this doesn't work for all packages.
+    """
+    package_exists = importlib.util.find_spec(pkg_name) is not None
+    package_version = "N/A"
+    if package_exists:
+        try:
+            # Primary method to get the package version
+            package_version = importlib.metadata.version(pkg_name)
+        except importlib.metadata.PackageNotFoundError:
+            # Fallback method: Only for "torch" and versions containing "dev"
+            if pkg_name == "torch":
+                try:
+                    package = importlib.import_module(pkg_name)
+                    temp_version = getattr(package, "__version__", "N/A")
+                    # Check if the version contains "dev"
+                    if "dev" in temp_version:
+                        package_version = temp_version
+                        package_exists = True
+                    else:
+                        package_exists = False
+                except ImportError:
+                    # If the package can't be imported, it's not available
+                    package_exists = False
+            else:
+                # For packages other than "torch", don't attempt the fallback and set as not available
+                package_exists = False
+        logging.debug(f"Detected {pkg_name} version: {package_version}")
+    if return_version:
+        return package_exists, package_version
+    else:
+        return package_exists
+
+
+_torch_available, _torch_version = is_package_available("torch", return_version=True)
+_gym_xarm_available = is_package_available("gym_xarm")
+_gym_aloha_available = is_package_available("gym_aloha")
+_gym_pusht_available = is_package_available("gym_pusht")

tests/test_available.py

@@ -1,53 +1,39 @@
-"""
-This test verifies that all environments, datasets, policies listed in `lerobot/__init__.py` can be sucessfully
-imported and that their class attributes (eg. `available_datasets`, `name`, `available_tasks`) are valid.
-
-When implementing a new dataset (e.g. `AlohaDataset`), policy (e.g. `DiffusionPolicy`), or environment, follow these steps:
-- Set the required class attributes: `available_datasets`.
-- Set the required class attributes: `name`.
-- Update variables in `lerobot/__init__.py` (e.g. `available_envs`, `available_datasets_per_envs`, `available_policies`)
-- Update variables in `tests/test_available.py` by importing your new class
-"""
-
 import importlib
 import pytest
 import lerobot
 import gymnasium as gym
 
-from lerobot.common.datasets.xarm import XarmDataset
+from lerobot.common.import_utils import is_package_available
-from lerobot.common.datasets.aloha import AlohaDataset
-from lerobot.common.datasets.pusht import PushtDataset
-
 from lerobot.common.policies.act.modeling_act import ActionChunkingTransformerPolicy
 from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.common.policies.tdmpc.policy import TDMPCPolicy
 
 
-def test_available():
+@pytest.mark.parametrize("env_name, task_name", lerobot.env_task_pairs)
+def test_available_env_task(env_name: str, task_name: list):
+    """
+    This test verifies that all environments listed in `lerobot/__init__.py` can
+    be sucessfully imported if — they're installed — and that their
+    `available_tasks_per_env` are valid.
+    """
+    package_name = f"gym_{env_name}"
+    if not is_package_available(package_name):
+        pytest.skip(f"gym-{env_name} not installed")
+    
+    importlib.import_module(package_name)
+    gym_handle = f"{package_name}/{task_name}"
+    assert gym_handle in gym.envs.registry.keys(), gym_handle
+
+
+def test_available_policies():
+    """
+    This test verifies that the class attribute `name` for all policies is
+    consistent with those listed in `lerobot/__init__.py`.
+    """
     policy_classes = [
         ActionChunkingTransformerPolicy,
         DiffusionPolicy,
         TDMPCPolicy,
     ]
-
-    dataset_class_per_env = {
-        "aloha": AlohaDataset,
-        "pusht": PushtDataset,
-        "xarm": XarmDataset,
-    }
-    
     policies = [pol_cls.name for pol_cls in policy_classes]
     assert set(policies) == set(lerobot.available_policies), policies
-
-    for env_name in lerobot.available_envs:
-        for task_name in lerobot.available_tasks_per_env[env_name]:
-            package_name = f"gym_{env_name}"
-            importlib.import_module(package_name)
-            gym_handle = f"{package_name}/{task_name}"
-            assert gym_handle in gym.envs.registry.keys(), gym_handle
-
-        dataset_class = dataset_class_per_env[env_name]
-        available_datasets = lerobot.available_datasets_per_env[env_name]
-        assert set(available_datasets) == set(dataset_class.available_datasets), f"{env_name=} {available_datasets=}"
-
-