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318d421 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 | #!/usr/bin/env python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Contract tests for DatasetReader."""
import pytest
pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
from lerobot.datasets.dataset_reader import DatasetReader
from lerobot.utils.import_utils import get_safe_default_video_backend
# ── Loading ──────────────────────────────────────────────────────────
def test_try_load_returns_true_when_data_exists(tmp_path, lerobot_dataset_factory):
"""Given a fully written dataset, try_load() returns True."""
dataset = lerobot_dataset_factory(
root=tmp_path / "ds", total_episodes=2, total_frames=20, use_videos=False
)
reader = DatasetReader(
meta=dataset.meta,
root=dataset.root,
episodes=None,
tolerance_s=1e-4,
video_backend=get_safe_default_video_backend(),
delta_timestamps=None,
image_transforms=None,
)
assert reader.try_load() is True
assert reader.hf_dataset is not None
def test_try_load_returns_false_when_no_data(tmp_path):
"""When only metadata exists (no data/ parquets), try_load() returns False."""
from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
root = tmp_path / "meta_only"
features = {"state": {"dtype": "float32", "shape": (2,), "names": None}}
meta = LeRobotDatasetMetadata.create(
repo_id="test/meta_only", fps=30, features=features, root=root, use_videos=False
)
reader = DatasetReader(
meta=meta,
root=meta.root,
episodes=None,
tolerance_s=1e-4,
video_backend=get_safe_default_video_backend(),
delta_timestamps=None,
image_transforms=None,
)
assert reader.try_load() is False
assert reader.hf_dataset is None
# ── Counts ───────────────────────────────────────────────────────────
def test_num_frames_without_filter(tmp_path, lerobot_dataset_factory):
"""With episodes=None, num_frames equals total_frames."""
dataset = lerobot_dataset_factory(
root=tmp_path / "ds", total_episodes=3, total_frames=60, use_videos=False
)
assert dataset.reader.num_frames == dataset.meta.total_frames
def test_num_episodes_without_filter(tmp_path, lerobot_dataset_factory):
"""With episodes=None, num_episodes equals total_episodes."""
dataset = lerobot_dataset_factory(
root=tmp_path / "ds", total_episodes=3, total_frames=60, use_videos=False
)
assert dataset.reader.num_episodes == dataset.meta.total_episodes
def test_num_frames_with_episode_filter(tmp_path, lerobot_dataset_factory):
"""When filtering to a subset, only those episodes' frames are counted."""
dataset = lerobot_dataset_factory(
root=tmp_path / "ds", total_episodes=5, total_frames=100, episodes=[0, 2], use_videos=False
)
# Filtered frames should be less than total
assert dataset.reader.num_frames <= dataset.meta.total_frames
assert dataset.reader.num_episodes == 2
# ── get_item ─────────────────────────────────────────────────────────
def test_get_item_returns_expected_keys(tmp_path, lerobot_dataset_factory):
"""get_item(0) returns a dict with expected keys."""
dataset = lerobot_dataset_factory(
root=tmp_path / "ds", total_episodes=1, total_frames=10, use_videos=False
)
item = dataset.reader.get_item(0)
# Standard keys that must always be present
for key in ["index", "episode_index", "frame_index", "timestamp", "task_index", "task"]:
assert key in item, f"Missing key: {key}"
def test_get_item_values_are_correct(tmp_path, lerobot_dataset_factory):
"""get_item() returns correct index and episode_index."""
dataset = lerobot_dataset_factory(
root=tmp_path / "ds", total_episodes=2, total_frames=20, use_videos=False
)
item_0 = dataset.reader.get_item(0)
assert item_0["index"].item() == 0
assert item_0["episode_index"].item() == 0
# ── Transforms ───────────────────────────────────────────────────────
def test_image_transforms_are_applied(tmp_path, lerobot_dataset_factory):
"""When image_transforms is provided, get_item() applies it to camera keys."""
transform_called = {"count": 0}
def sentinel_transform(img):
transform_called["count"] += 1
return img
dataset = lerobot_dataset_factory(
root=tmp_path / "ds",
total_episodes=1,
total_frames=5,
use_videos=False,
image_transforms=sentinel_transform,
)
item = dataset[0] # noqa: F841
# Should have been called once per camera key per frame
num_cameras = len(dataset.meta.camera_keys)
if num_cameras > 0:
assert transform_called["count"] >= 1
# ── File paths ───────────────────────────────────────────────────────
def test_get_episodes_file_paths_returns_data_paths(tmp_path, lerobot_dataset_factory):
"""get_episodes_file_paths() returns paths including data/ paths."""
dataset = lerobot_dataset_factory(
root=tmp_path / "ds", total_episodes=2, total_frames=20, use_videos=False
)
paths = dataset.reader.get_episodes_file_paths()
assert len(paths) > 0
assert any("data/" in str(p) for p in paths)
def test_get_episodes_file_paths_includes_video_paths(tmp_path, lerobot_dataset_factory):
"""When dataset has video keys, file paths include video/ paths."""
dataset = lerobot_dataset_factory(
root=tmp_path / "ds", total_episodes=2, total_frames=20, use_videos=True
)
if len(dataset.meta.video_keys) > 0:
paths = dataset.reader.get_episodes_file_paths()
assert any("video" in str(p).lower() for p in paths)
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