129 lines
3.8 KiB
Python
129 lines
3.8 KiB
Python
import json
|
|
from pathlib import Path
|
|
|
|
import datasets
|
|
import jsonlines
|
|
import pyarrow.compute as pc
|
|
import pyarrow.parquet as pq
|
|
import pytest
|
|
|
|
from datasets import Dataset
|
|
|
|
from lerobot.common.datasets.utils import (
|
|
write_episodes,
|
|
write_episodes_stats,
|
|
write_hf_dataset,
|
|
write_info,
|
|
write_stats,
|
|
write_tasks,
|
|
)
|
|
|
|
|
|
@pytest.fixture(scope="session")
|
|
def create_info(info_factory):
|
|
def _create_info(dir: Path, info: dict | None = None):
|
|
if not info:
|
|
info = info_factory()
|
|
write_info(info, dir)
|
|
|
|
return _create_info
|
|
|
|
|
|
@pytest.fixture(scope="session")
|
|
def create_stats(stats_factory):
|
|
def _create_stats(dir: Path, stats: dict | None = None):
|
|
if not stats:
|
|
stats = stats_factory()
|
|
write_stats(stats, dir)
|
|
|
|
return _create_stats
|
|
|
|
|
|
@pytest.fixture(scope="session")
|
|
def create_episodes_stats(episodes_stats_factory):
|
|
def _create_episodes_stats(dir: Path, episodes_stats: Dataset | None = None):
|
|
if not episodes_stats:
|
|
episodes_stats = episodes_stats_factory()
|
|
write_episodes_stats(episodes_stats, dir)
|
|
|
|
return _create_episodes_stats
|
|
|
|
|
|
@pytest.fixture(scope="session")
|
|
def create_tasks(tasks_factory):
|
|
def _create_tasks(dir: Path, tasks: Dataset | None = None):
|
|
if not tasks:
|
|
tasks = tasks_factory()
|
|
write_tasks(tasks, dir)
|
|
|
|
return _create_tasks
|
|
|
|
|
|
@pytest.fixture(scope="session")
|
|
def create_episodes(episodes_factory):
|
|
def _create_episodes(dir: Path, episodes: Dataset | None = None):
|
|
if not episodes:
|
|
episodes = episodes_factory()
|
|
write_episodes(episodes, dir)
|
|
|
|
return _create_episodes
|
|
|
|
@pytest.fixture(scope="session")
|
|
def create_hf_dataset(hf_dataset_factory):
|
|
def _create_hf_dataset(dir: Path, hf_dataset: Dataset | None = None):
|
|
if not hf_dataset:
|
|
hf_dataset = hf_dataset_factory()
|
|
write_hf_dataset(hf_dataset, dir)
|
|
|
|
return _create_hf_dataset
|
|
|
|
|
|
@pytest.fixture(scope="session")
|
|
def single_episode_parquet_path(hf_dataset_factory, info_factory):
|
|
def _create_single_episode_parquet(
|
|
dir: Path, ep_idx: int = 0, hf_dataset: datasets.Dataset | None = None, info: dict | None = None
|
|
) -> Path:
|
|
raise NotImplementedError()
|
|
if not info:
|
|
info = info_factory()
|
|
if hf_dataset is None:
|
|
hf_dataset = hf_dataset_factory()
|
|
|
|
data_path = info["data_path"]
|
|
chunks_size = info["chunks_size"]
|
|
ep_chunk = ep_idx // chunks_size
|
|
fpath = dir / data_path.format(episode_chunk=ep_chunk, episode_index=ep_idx)
|
|
fpath.parent.mkdir(parents=True, exist_ok=True)
|
|
table = hf_dataset.data.table
|
|
ep_table = table.filter(pc.equal(table["episode_index"], ep_idx))
|
|
pq.write_table(ep_table, fpath)
|
|
return fpath
|
|
|
|
return _create_single_episode_parquet
|
|
|
|
|
|
@pytest.fixture(scope="session")
|
|
def multi_episode_parquet_path(hf_dataset_factory, info_factory):
|
|
def _create_multi_episode_parquet(
|
|
dir: Path, hf_dataset: datasets.Dataset | None = None, info: dict | None = None
|
|
) -> Path:
|
|
raise NotImplementedError()
|
|
if not info:
|
|
info = info_factory()
|
|
if hf_dataset is None:
|
|
hf_dataset = hf_dataset_factory()
|
|
|
|
data_path = info["data_path"]
|
|
chunks_size = info["chunks_size"]
|
|
total_episodes = info["total_episodes"]
|
|
for ep_idx in range(total_episodes):
|
|
ep_chunk = ep_idx // chunks_size
|
|
fpath = dir / data_path.format(episode_chunk=ep_chunk, episode_index=ep_idx)
|
|
fpath.parent.mkdir(parents=True, exist_ok=True)
|
|
table = hf_dataset.data.table
|
|
ep_table = table.filter(pc.equal(table["episode_index"], ep_idx))
|
|
pq.write_table(ep_table, fpath)
|
|
return dir / "data"
|
|
|
|
return _create_multi_episode_parquet
|