feat(dependencies): minimal default tag install (#3362)

tests/datasets/test_aggregate.py

@@ -16,7 +16,11 @@
 
 from unittest.mock import patch
 
-import datasets
+import pytest
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
+import datasets  # noqa: E402
 import torch
 
 from lerobot.datasets.aggregate import aggregate_datasets

tests/datasets/test_compute_stats.py

@@ -18,6 +18,8 @@ from unittest.mock import patch
 import numpy as np
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.compute_stats import (
     RunningQuantileStats,
     _assert_type_and_shape,

tests/datasets/test_dataset_metadata.py

@@ -20,6 +20,8 @@ import json
 import numpy as np
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
 from lerobot.datasets.utils import INFO_PATH
 from tests.fixtures.constants import DEFAULT_FPS, DUMMY_ROBOT_TYPE

tests/datasets/test_dataset_reader.py

@@ -15,8 +15,12 @@
 # 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.datasets.video_utils import get_safe_default_codec
+from lerobot.utils.import_utils import get_safe_default_codec
 
 # ── Loading ──────────────────────────────────────────────────────────
 

tests/datasets/test_dataset_tools.py

@@ -21,6 +21,8 @@ import numpy as np
 import pytest
 import torch
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.dataset_tools import (
     add_features,
     delete_episodes,

tests/datasets/test_dataset_utils.py

@@ -16,13 +16,16 @@
 
 import pytest
 import torch
-from datasets import Dataset
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
+from datasets import Dataset  # noqa: E402
 from huggingface_hub import DatasetCard
 
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.io_utils import hf_transform_to_torch
 from lerobot.datasets.utils import create_lerobot_dataset_card
 from lerobot.utils.constants import ACTION, OBS_IMAGES
+from lerobot.utils.feature_utils import combine_feature_dicts
 
 
 def calculate_episode_data_index(hf_dataset: Dataset) -> dict[str, torch.Tensor]:

tests/datasets/test_dataset_writer.py

@@ -23,6 +23,8 @@ import pytest
 import torch
 from PIL import Image
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.dataset_writer import _encode_video_worker
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import DEFAULT_IMAGE_PATH

tests/datasets/test_datasets.py

@@ -21,21 +21,22 @@ from pathlib import Path
 import numpy as np
 import pytest
 import torch
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from huggingface_hub import HfApi
 from PIL import Image
 from safetensors.torch import load_file
 from torchvision.transforms import v2
 
-import lerobot
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.train import TrainPipelineConfig
-from lerobot.datasets.factory import make_dataset
-from lerobot.datasets.feature_utils import get_hf_features_from_features, hw_to_dataset_features
+from lerobot.datasets import make_dataset
+from lerobot.datasets.feature_utils import get_hf_features_from_features
 from lerobot.datasets.image_writer import image_array_to_pil_image
 from lerobot.datasets.io_utils import hf_transform_to_torch
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.multi_dataset import MultiLeRobotDataset
-from lerobot.datasets.transforms import ImageTransforms, ImageTransformsConfig
 from lerobot.datasets.utils import (
     DEFAULT_CHUNK_SIZE,
     DEFAULT_DATA_FILE_SIZE_IN_MB,
@@ -46,7 +47,9 @@ from lerobot.datasets.video_utils import VALID_VIDEO_CODECS
 from lerobot.envs.factory import make_env_config
 from lerobot.policies.factory import make_policy_config
 from lerobot.robots import make_robot_from_config
+from lerobot.transforms import ImageTransforms, ImageTransformsConfig
 from lerobot.utils.constants import ACTION, DONE, OBS_IMAGES, OBS_STATE, OBS_STR, REWARD
+from lerobot.utils.feature_utils import hw_to_dataset_features
 from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID
 from tests.mocks.mock_robot import MockRobotConfig
 from tests.utils import require_x86_64_kernel
@@ -493,13 +496,28 @@ def test_tmp_mixed_deletion(tmp_path, empty_lerobot_dataset_factory):
 # - [ ] remove old tests
 
 
+ENV_DATASET_POLICY_TRIPLETS = [
+    ("aloha", dataset, "act")
+    for dataset in [
+        "lerobot/aloha_sim_insertion_human",
+        "lerobot/aloha_sim_insertion_scripted",
+        "lerobot/aloha_sim_transfer_cube_human",
+        "lerobot/aloha_sim_transfer_cube_scripted",
+        "lerobot/aloha_sim_insertion_human_image",
+        "lerobot/aloha_sim_insertion_scripted_image",
+        "lerobot/aloha_sim_transfer_cube_human_image",
+        "lerobot/aloha_sim_transfer_cube_scripted_image",
+    ]
+] + [
+    ("pusht", dataset, policy)
+    for dataset in ["lerobot/pusht", "lerobot/pusht_image"]
+    for policy in ["diffusion", "vqbet"]
+]
+
+
 @pytest.mark.parametrize(
     "env_name, repo_id, policy_name",
-    # Single dataset
-    lerobot.env_dataset_policy_triplets,
-    # Multi-dataset
-    # TODO after fix multidataset
-    # + [("aloha", ["lerobot/aloha_sim_insertion_human", "lerobot/aloha_sim_transfer_cube_human"], "act")],
+    ENV_DATASET_POLICY_TRIPLETS,
 )
 def test_factory(env_name, repo_id, policy_name):
     """

tests/datasets/test_delta_timestamps.py

@@ -13,6 +13,8 @@
 # limitations under the License.
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.feature_utils import (
     check_delta_timestamps,
     get_delta_indices,

tests/datasets/test_image_transforms.py

@@ -21,7 +21,13 @@ from safetensors.torch import load_file
 from torchvision.transforms import v2
 from torchvision.transforms.v2 import functional as F  # noqa: N812
 
-from lerobot.datasets.transforms import (
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
+from lerobot.scripts.lerobot_imgtransform_viz import (
+    save_all_transforms,
+    save_each_transform,
+)
+from lerobot.transforms import (
     ImageTransformConfig,
     ImageTransforms,
     ImageTransformsConfig,
@@ -29,10 +35,6 @@ from lerobot.datasets.transforms import (
     SharpnessJitter,
     make_transform_from_config,
 )
-from lerobot.scripts.lerobot_imgtransform_viz import (
-    save_all_transforms,
-    save_each_transform,
-)
 from lerobot.utils.random_utils import seeded_context
 from tests.artifacts.image_transforms.save_image_transforms_to_safetensors import ARTIFACT_DIR
 from tests.utils import require_x86_64_kernel

tests/datasets/test_image_writer.py

@@ -20,6 +20,8 @@ import numpy as np
 import pytest
 from PIL import Image
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.image_writer import (
     AsyncImageWriter,
     image_array_to_pil_image,

tests/datasets/test_lerobot_dataset.py

@@ -25,6 +25,8 @@ from unittest.mock import Mock
 import pytest
 import torch
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 import lerobot.datasets.dataset_metadata as dataset_metadata_module
 import lerobot.datasets.lerobot_dataset as lerobot_dataset_module
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata

tests/datasets/test_quantiles_dataset_integration.py

@@ -19,6 +19,8 @@
 import numpy as np
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
 

tests/datasets/test_sampler.py

@@ -17,7 +17,10 @@ import logging
 
 import pytest
 import torch
-from datasets import Dataset
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
+from datasets import Dataset  # noqa: E402
 
 from lerobot.datasets.io_utils import (
     hf_transform_to_torch,

tests/datasets/test_streaming.py

@@ -17,6 +17,8 @@ import numpy as np
 import pytest
 import torch
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
 from lerobot.datasets.utils import safe_shard
 from lerobot.utils.constants import ACTION

tests/datasets/test_streaming_video_encoder.py

@@ -20,10 +20,13 @@ import queue
 import threading
 from unittest.mock import patch
 
-import av
 import numpy as np
 import pytest
 
+pytest.importorskip("av", reason="av is required (install lerobot[dataset])")
+
+import av  # noqa: E402
+
 from lerobot.datasets.video_utils import (
     VALID_VIDEO_CODECS,
     StreamingVideoEncoder,

tests/datasets/test_subtask_dataset.py

@@ -23,8 +23,11 @@ These tests verify that:
 - Subtask handling gracefully handles missing data
 """
 
-import pandas as pd
 import pytest
+
+pytest.importorskip("pandas", reason="pandas is required (install lerobot[dataset])")
+
+import pandas as pd  # noqa: E402
 import torch
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset

tests/datasets/test_visualize_dataset.py

@@ -15,6 +15,8 @@
 # limitations under the License.
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.scripts.lerobot_dataset_viz import visualize_dataset