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e479c46 | 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 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
import json
from gr00t.data.types import ModalityConfig
from gr00t.eval.run_gr00t_server import _load_json_modality_configs
import pytest
def test_dataset_layout_json_raises_actionable(tmp_path):
# A dataset's meta/modality.json (start/end layout), not ModalityConfig fields.
p = tmp_path / "modality.json"
p.write_text(json.dumps({"state": {"single_arm": {"start": 0, "end": 5}}}))
with pytest.raises(ValueError) as exc:
_load_json_modality_configs(p)
msg = str(exc.value)
assert "ModalityConfig" in msg
assert ".py" in msg
def test_valid_modality_config_json_loads(tmp_path):
payload = {"action": {"delta_indices": [0, 1], "modality_keys": ["x"]}}
p = tmp_path / "mc.json"
p.write_text(json.dumps(payload))
configs = _load_json_modality_configs(p)
assert set(configs) == set(payload)
assert isinstance(configs["action"], ModalityConfig)
assert configs["action"].delta_indices == payload["action"]["delta_indices"]
assert configs["action"].modality_keys == payload["action"]["modality_keys"]
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