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Pepijn
24d2ffe3c6
`lerobot.processor` re-exported `RenderMessagesStep` at the package
level, so importing anything from `lerobot.processor` pulled in
`lerobot.datasets.language` → `lerobot.datasets/__init__.py` →
`require_package("datasets")`, which fails in the Tier 1 base install
that intentionally omits the `[dataset]` extra. The chain bricked
collection for unrelated suites (`tests/policies/pi0_pi05/...`,
`tests/envs/...`, etc.).
* Stop re-exporting `RenderMessagesStep` from `lerobot.processor`. The
only consumer (the test) already imports from the submodule.
Document the deliberate omission in the module docstring.
* Add `pytest.importorskip("datasets", ...)` (and `pandas` where
needed) at the top of the four PR-added tests that exercise the
language stack:
- tests/datasets/test_language.py
- tests/datasets/test_language_render.py
- tests/processor/test_render_messages_processor.py
- tests/utils/test_collate.py
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
61 lines
2.1 KiB
Python
61 lines
2.1 KiB
Python
#!/usr/bin/env python
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import pytest
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pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
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import torch # noqa: E402
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from lerobot.configs.recipe import MessageTurn, TrainingRecipe # noqa: E402
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from lerobot.processor.converters import create_transition # noqa: E402
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from lerobot.processor.render_messages_processor import RenderMessagesStep # noqa: E402
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from lerobot.types import TransitionKey # noqa: E402
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def test_render_messages_step_noops_without_language_columns():
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recipe = TrainingRecipe(
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messages=[
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MessageTurn(role="user", content="${task}", stream="high_level"),
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MessageTurn(role="assistant", content="${subtask}", stream="low_level", target=True),
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]
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)
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transition = create_transition(complementary_data={"task": "do it"})
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assert RenderMessagesStep(recipe)(transition) == transition
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def test_render_messages_step_renders_and_drops_raw_language():
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recipe = TrainingRecipe(
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messages=[
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MessageTurn(role="user", content="${task}", stream="high_level"),
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MessageTurn(role="assistant", content="${subtask}", stream="low_level", target=True),
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]
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)
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transition = create_transition(
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complementary_data={
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"task": "do it",
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"timestamp": torch.tensor(0.0),
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"index": torch.tensor(7),
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"language_persistent": [
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{
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"role": "assistant",
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"content": "reach carefully",
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"style": "subtask",
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"timestamp": 0.0,
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"camera": None,
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"tool_calls": None,
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}
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],
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"language_events": [],
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}
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)
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out = RenderMessagesStep(recipe)(transition)
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data = out[TransitionKey.COMPLEMENTARY_DATA]
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assert "language_persistent" not in data
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assert "language_events" not in data
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assert data["messages"][-1]["content"] == "reach carefully"
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assert data["message_streams"] == ["high_level", "low_level"]
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assert data["target_message_indices"] == [1]
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