Isaac-GR00T/tests/gr00t/eval/test_server_modality_json.py

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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"]