Lerobot-Dataset-Ruby 0.1.0

data/test/test_dataset_reader.rb

@@ -0,0 +1,95 @@
+# frozen_string_literal: true
+
+require_relative 'test_helper'
+require 'tmpdir'
+
+class TestLeRobotDatasetReader < Minitest::Test
+  def setup
+    @root = Dir.mktmpdir('lerobot-reader-test-')
+    writer = LeRobotDatasetWriter.new(output_dir: @root, fps: 30)
+    2.times do |episode_index|
+      writer.start_episode(task: "task-#{episode_index}")
+      2.times do |frame_index|
+        writer.add_frame(
+          action: [frame_index.to_f],
+          state: [episode_index.to_f],
+          timestamp: frame_index.to_f / 30
+        )
+      end
+      writer.save_episode
+    end
+    writer.save
+    @reader = LeRobotDatasetReader.new(@root)
+  end
+
+  def teardown
+    FileUtils.remove_entry(@root) if @root && File.directory?(@root)
+  end
+
+  def test_reads_episode_frames_separately
+    assert_equal @reader.info['total_episodes'], @reader.episode_count
+    assert_equal @reader.info['total_frames'], @reader.frame_count
+
+    first = @reader.episode(0)
+    assert_equal 0, first[:episode_index]
+    assert_equal first[:length], first[:frames].length
+    assert_equal 0, first[:frames].first[:episode_index]
+  end
+
+  def test_unknown_episode_raises
+    assert_raises(IndexError) { @reader.episode(999_999) }
+  end
+
+  def test_frame_index_continues_across_episodes
+    assert_equal [0, 1], @reader.episode(0)[:frames].map { |frame| frame[:frame_index] }
+    assert_equal [2, 3], @reader.episode(1)[:frames].map { |frame| frame[:frame_index] }
+  end
+
+  def test_unsaved_episode_is_excluded_from_dataset
+    writer = LeRobotDatasetWriter.new(output_dir: @root, fps: 30)
+    2.times do |episode_index|
+      writer.start_episode(task: "task-#{episode_index}")
+      2.times do |frame_index|
+        writer.add_frame(
+          action: [frame_index.to_f],
+          state: [episode_index.to_f],
+          timestamp: frame_index.to_f / 30
+        )
+      end
+      writer.save_episode
+    end
+
+    writer.start_episode(task: 'discarded-task')
+    2.times do |frame_index|
+      writer.add_frame(action: [frame_index.to_f], state: [2.0])
+    end
+    writer.save_episode(save: false)
+    writer.save
+    reader = LeRobotDatasetReader.new(@root)
+
+    assert_equal 2, reader.episode_count
+    assert_equal [0, 1], reader.episode(0)[:frames].map { |frame| frame[:frame_index] }
+    assert_equal [2, 3], reader.episode(1)[:frames].map { |frame| frame[:frame_index] }
+    assert_equal [1, 1], reader.episode(1)[:frames].map { |frame| frame[:episode_index] }
+  end
+
+  def test_new_episode_after_unsaved_episode_keeps_video_frame_index_unique
+    writer = LeRobotDatasetWriter.new(output_dir: @root, fps: 30)
+    2.times do |episode_index|
+      writer.start_episode(task: "task-#{episode_index}")
+      writer.add_frame(action: [0.0], state: [episode_index.to_f])
+      writer.save_episode
+    end
+
+    writer.start_episode(task: 'discarded-task')
+    writer.add_frame(action: [0.0], state: [3.0])
+    writer.save_episode(save: false)
+    writer.start_episode(task: 'new-task')
+    writer.add_frame(action: [0.0], state: [4.0])
+    writer.save_episode
+    writer.save
+    reader = LeRobotDatasetReader.new(@root)
+
+    assert_equal [0, 1, 3], reader.each_frame.map { |frame| frame['frame_index'] }
+  end
+end

data/test/test_helper.rb

@@ -0,0 +1,6 @@
+# frozen_string_literal: true
+
+$LOAD_PATH.unshift File.expand_path("../lib", __dir__)
+require "Lerobot/Dataset/Ruby"
+
+require "minitest/autorun"

data/test/test_libopencv.rb

@@ -0,0 +1,52 @@
+# frozen_string_literal: true
+
+require_relative 'test_helper'
+require_relative '../ext/opencv/libopencv' if File.exist?(File.expand_path('../ext/opencv/libopencv.so', __dir__))
+
+class TestLibopencv < Minitest::Test
+  def test_module_defined
+    assert_includes Object.constants, :Libopencv
+  end
+
+  def test_methods_defined
+    assert_respond_to Libopencv, :open_mp4
+    assert_respond_to Libopencv, :cam_open
+    assert_respond_to Libopencv, :start_recording
+    assert_respond_to Libopencv, :take_picture
+    assert_respond_to Libopencv, :write_frame
+    assert_respond_to Libopencv, :stop_recording
+    assert_respond_to Libopencv, :show_movie
+    assert_respond_to Libopencv, :wait_key
+    assert_respond_to Libopencv, :destroy_window
+  end
+
+  def test_recording_state_errors
+    # 録画開始せずにフレーム書き込みを試みると例外が発生すること
+    assert_raises(RuntimeError) do
+      Libopencv.write_frame("dummy")
+    end
+  end
+
+  def test_start_recording_invalid_args
+    # カメラを開かずに録画開始すると例外が発生すること
+    assert_raises(RuntimeError) do
+      Libopencv.start_recording("test.mp4", 30.0)
+    end
+    # 引数が不正な場合に例外が発生すること
+    assert_raises(ArgumentError) do
+      Libopencv.start_recording(nil, 30.0)
+    end
+    assert_raises(ArgumentError) do
+      Libopencv.start_recording("test.mp4", -1)
+    end
+  end
+
+  def test_cam_open_invalid_args
+    assert_raises(ArgumentError) do
+      Libopencv.cam_open(0, 0, 480)
+    end
+    assert_raises(ArgumentError) do
+      Libopencv.cam_open(0, 640, -1)
+    end
+  end
+end

metadata

@@ -0,0 +1,108 @@
+--- !ruby/object:Gem::Specification
+name: Lerobot-Dataset-Ruby
+version: !ruby/object:Gem::Version
+  version: 0.1.0
+platform: ruby
+authors:
+- Harutodesu
+autorequire:
+bindir: exe
+cert_chain: []
+date: 2026-09-29 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: parquet
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0.1'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0.1'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '13.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '13.0'
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '5.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '5.0'
+description: A Ruby gem for reading and recording robotic dataset in LeRobot v3.0
+  format using OpenCV and Parquet.
+email:
+- happyday11242019@gmail.com
+executables: []
+extensions:
+- ext/opencv/extconf.rb
+extra_rdoc_files: []
+files:
+- CHANGELOG.md
+- CODE_OF_CONDUCT.md
+- LICENSE.txt
+- README.md
+- Rakefile
+- ext/opencv/extconf.rb
+- ext/opencv/libopencv.cpp
+- lib/Lerobot/Dataset/Ruby.rb
+- lib/Lerobot/Dataset/Ruby/reader.rb
+- lib/Lerobot/Dataset/Ruby/version.rb
+- lib/Lerobot/Dataset/Ruby/writer.rb
+- sig/Lerobot/Dataset/Ruby.rbs
+- test/minimal_lerobot_check.rb
+- test/sample.rb
+- test/test_dataset.py
+- test/test_dataset_reader.rb
+- test/test_helper.rb
+- test/test_libopencv.rb
+homepage: https://github.com/paisyaluAI/lerobot-dataset-ruby
+licenses:
+- MIT
+metadata:
+  homepage_uri: https://github.com/paisyaluAI/lerobot-dataset-ruby
+  source_code_uri: https://github.com/paisyaluAI/lerobot-dataset-ruby
+  changelog_uri: https://github.com/paisyaluAI/lerobot-dataset-ruby/blob/main/CHANGELOG.md
+post_install_message:
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: 3.2.0
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubygems_version: 3.4.20
+signing_key:
+specification_version: 4
+summary: LeRobot dataset v3 reader and writer library for Ruby
+test_files: []