forked from tangger/lerobot
Package folder structure (#1417)
* Move files * Replace imports & paths * Update relative paths * Update doc symlinks * Update instructions paths * Fix imports * Update grpc files * Update more instructions * Downgrade grpc-tools * Update manifest * Update more paths * Update config paths * Update CI paths * Update bandit exclusions * Remove walkthrough section
This commit is contained in:
Simon Alibert
@@ -21,13 +21,13 @@ from pickle import UnpicklingError
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import pytest
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import torch
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from lerobot.common.utils.transition import Transition
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from lerobot.utils.transition import Transition
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from tests.utils import require_cuda, require_package
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@require_package("grpc")
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def test_bytes_buffer_size_empty_buffer():
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from lerobot.common.transport.utils import bytes_buffer_size
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from lerobot.transport.utils import bytes_buffer_size
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"""Test with an empty buffer."""
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buffer = io.BytesIO()
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@@ -38,7 +38,7 @@ def test_bytes_buffer_size_empty_buffer():
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@require_package("grpc")
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def test_bytes_buffer_size_small_buffer():
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from lerobot.common.transport.utils import bytes_buffer_size
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from lerobot.transport.utils import bytes_buffer_size
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"""Test with a small buffer."""
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buffer = io.BytesIO(b"Hello, World!")
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@@ -48,7 +48,7 @@ def test_bytes_buffer_size_small_buffer():
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@require_package("grpc")
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def test_bytes_buffer_size_large_buffer():
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from lerobot.common.transport.utils import CHUNK_SIZE, bytes_buffer_size
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from lerobot.transport.utils import CHUNK_SIZE, bytes_buffer_size
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"""Test with a large buffer."""
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data = b"x" * (CHUNK_SIZE * 2 + 1000)
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@@ -59,7 +59,7 @@ def test_bytes_buffer_size_large_buffer():
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@require_package("grpc")
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def test_send_bytes_in_chunks_empty_data():
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from lerobot.common.transport.utils import send_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
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"""Test sending empty data."""
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message_class = services_pb2.InteractionMessage
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@@ -69,7 +69,7 @@ def test_send_bytes_in_chunks_empty_data():
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@require_package("grpc")
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def test_single_chunk_small_data():
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from lerobot.common.transport.utils import send_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
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"""Test data that fits in a single chunk."""
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data = b"Some data"
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@@ -83,7 +83,7 @@ def test_single_chunk_small_data():
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@require_package("grpc")
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def test_not_silent_mode():
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from lerobot.common.transport.utils import send_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
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"""Test not silent mode."""
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data = b"Some data"
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@@ -95,7 +95,7 @@ def test_not_silent_mode():
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@require_package("grpc")
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def test_send_bytes_in_chunks_large_data():
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from lerobot.common.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
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"""Test sending large data."""
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data = b"x" * (CHUNK_SIZE * 2 + 1000)
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@@ -112,7 +112,7 @@ def test_send_bytes_in_chunks_large_data():
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@require_package("grpc")
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def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
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from lerobot.common.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
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"""Test sending large data with exact chunk size."""
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data = b"x" * CHUNK_SIZE
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@@ -125,7 +125,7 @@ def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_empty_data():
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from lerobot.common.transport.utils import receive_bytes_in_chunks
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from lerobot.transport.utils import receive_bytes_in_chunks
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"""Test receiving empty data."""
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queue = Queue()
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@@ -139,7 +139,7 @@ def test_receive_bytes_in_chunks_empty_data():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_single_chunk():
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from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving a single chunk message."""
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queue = Queue()
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@@ -158,7 +158,7 @@ def test_receive_bytes_in_chunks_single_chunk():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_single_not_end_chunk():
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from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving a single chunk message."""
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queue = Queue()
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@@ -176,7 +176,7 @@ def test_receive_bytes_in_chunks_single_not_end_chunk():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_multiple_chunks():
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from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving a multi-chunk message."""
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queue = Queue()
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@@ -200,7 +200,7 @@ def test_receive_bytes_in_chunks_multiple_chunks():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_multiple_messages():
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from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving multiple complete messages in sequence."""
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queue = Queue()
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@@ -236,7 +236,7 @@ def test_receive_bytes_in_chunks_multiple_messages():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_shutdown_during_receive():
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from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test that shutdown event stops receiving mid-stream."""
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queue = Queue()
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@@ -260,7 +260,7 @@ def test_receive_bytes_in_chunks_shutdown_during_receive():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_only_begin_chunk():
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from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving only a BEGIN chunk without END."""
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queue = Queue()
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@@ -280,7 +280,7 @@ def test_receive_bytes_in_chunks_only_begin_chunk():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_missing_begin():
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from lerobot.common.transport.utils import receive_bytes_in_chunks, services_pb2
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from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
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"""Test receiving chunks starting with MIDDLE instead of BEGIN."""
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queue = Queue()
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@@ -304,7 +304,7 @@ def test_receive_bytes_in_chunks_missing_begin():
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# Tests for state_to_bytes and bytes_to_state_dict
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@require_package("grpc")
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def test_state_to_bytes_empty_dict():
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from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
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from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
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"""Test converting empty state dict to bytes."""
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state_dict = {}
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@@ -315,7 +315,7 @@ def test_state_to_bytes_empty_dict():
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@require_package("grpc")
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def test_bytes_to_state_dict_empty_data():
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from lerobot.common.transport.utils import bytes_to_state_dict
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from lerobot.transport.utils import bytes_to_state_dict
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"""Test converting empty data to state dict."""
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with pytest.raises(EOFError):
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@@ -324,7 +324,7 @@ def test_bytes_to_state_dict_empty_data():
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@require_package("grpc")
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def test_state_to_bytes_simple_dict():
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from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
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from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
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"""Test converting simple state dict to bytes."""
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state_dict = {
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@@ -348,7 +348,7 @@ def test_state_to_bytes_simple_dict():
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@require_package("grpc")
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def test_state_to_bytes_various_dtypes():
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from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
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from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
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"""Test converting state dict with various tensor dtypes."""
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state_dict = {
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@@ -373,7 +373,7 @@ def test_state_to_bytes_various_dtypes():
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@require_package("grpc")
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def test_bytes_to_state_dict_invalid_data():
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from lerobot.common.transport.utils import bytes_to_state_dict
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from lerobot.transport.utils import bytes_to_state_dict
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"""Test bytes_to_state_dict with invalid data."""
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with pytest.raises(UnpicklingError):
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@@ -383,7 +383,7 @@ def test_bytes_to_state_dict_invalid_data():
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@require_cuda
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@require_package("grpc")
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def test_state_to_bytes_various_dtypes_cuda():
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from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
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from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
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"""Test converting state dict with various tensor dtypes."""
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state_dict = {
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@@ -408,7 +408,7 @@ def test_state_to_bytes_various_dtypes_cuda():
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@require_package("grpc")
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def test_python_object_to_bytes_none():
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from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
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from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
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"""Test converting None to bytes."""
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obj = None
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@@ -440,7 +440,7 @@ def test_python_object_to_bytes_none():
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)
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@require_package("grpc")
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def test_python_object_to_bytes_simple_types(obj):
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from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
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from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
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"""Test converting simple Python types."""
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data = python_object_to_bytes(obj)
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@@ -451,7 +451,7 @@ def test_python_object_to_bytes_simple_types(obj):
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@require_package("grpc")
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def test_python_object_to_bytes_with_tensors():
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from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
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from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
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"""Test converting objects containing PyTorch tensors."""
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obj = {
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@@ -476,7 +476,7 @@ def test_python_object_to_bytes_with_tensors():
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@require_package("grpc")
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def test_transitions_to_bytes_empty_list():
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from lerobot.common.transport.utils import bytes_to_transitions, transitions_to_bytes
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from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
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"""Test converting empty transitions list."""
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transitions = []
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@@ -488,7 +488,7 @@ def test_transitions_to_bytes_empty_list():
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@require_package("grpc")
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def test_transitions_to_bytes_single_transition():
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from lerobot.common.transport.utils import bytes_to_transitions, transitions_to_bytes
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from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
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"""Test converting a single transition."""
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transition = Transition(
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@@ -528,7 +528,7 @@ def assert_observation_equal(o1: dict, o2: dict):
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@require_package("grpc")
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def test_transitions_to_bytes_multiple_transitions():
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from lerobot.common.transport.utils import bytes_to_transitions, transitions_to_bytes
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from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
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"""Test converting multiple transitions."""
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transitions = []
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@@ -552,7 +552,7 @@ def test_transitions_to_bytes_multiple_transitions():
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@require_package("grpc")
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def test_receive_bytes_in_chunks_unknown_state():
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from lerobot.common.transport.utils import receive_bytes_in_chunks
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from lerobot.transport.utils import receive_bytes_in_chunks
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"""Test receive_bytes_in_chunks with an unknown transfer state."""
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