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[pre-commit.ci] auto fixes from pre-commit.com hooks

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for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
2025-03-24 13:41:27 +00:00
committed by Michel Aractingi
parent 2abbd60a0d
commit 0ea27704f6
123 changed files with 1161 additions and 3425 deletions
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24
tests/robots/test_control_robot.py
View File

@@ -179,9 +179,7 @@ def test_record_and_replay_and_policy(tmp_path, request, robot_type, mock):
assert dataset.meta.total_episodes == 2
assert len(dataset) == 2
replay_cfg = ReplayControlConfig(
episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False
)
replay_cfg = ReplayControlConfig(episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False)
replay(robot, replay_cfg)
policy_cfg = ACTConfig()
@@ -336,12 +334,8 @@ def test_record_with_event_rerecord_episode(tmp_path, request, robot_type, mock)
)
dataset = record(robot, rec_cfg)
assert not mock_events["rerecord_episode"], (
"`rerecord_episode` wasn't properly reset to False"
)
assert not mock_events["exit_early"], (
"`exit_early` wasn't properly reset to False"
)
assert not mock_events["rerecord_episode"], "`rerecord_episode` wasn't properly reset to False"
assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False"
assert len(dataset) == 1, "`dataset` should contain only 1 frame"
@@ -391,9 +385,7 @@ def test_record_with_event_exit_early(tmp_path, request, robot_type, mock):
dataset = record(robot, rec_cfg)
assert not mock_events["exit_early"], (
"`exit_early` wasn't properly reset to False"
)
assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False"
assert len(dataset) == 1, "`dataset` should contain only 1 frame"
@@ -402,9 +394,7 @@ def test_record_with_event_exit_early(tmp_path, request, robot_type, mock):
[("koch", True, 0), ("koch", True, 1)],
)
@require_robot
def test_record_with_event_stop_recording(
tmp_path, request, robot_type, mock, num_image_writer_processes
):
def test_record_with_event_stop_recording(tmp_path, request, robot_type, mock, num_image_writer_processes):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if mock:
@@ -450,7 +440,5 @@ def test_record_with_event_stop_recording(
dataset = record(robot, rec_cfg)
assert not mock_events["exit_early"], (
"`exit_early` wasn't properly reset to False"
)
assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False"
assert len(dataset) == 1, "`dataset` should contain only 1 frame"

12
tests/robots/test_robots.py
View File

@@ -108,9 +108,7 @@ def test_robot(tmp_path, request, robot_type, mock):
assert "observation.state" in observation
assert isinstance(observation["observation.state"], torch.Tensor)
assert observation["observation.state"].ndim == 1
dim_state = sum(
len(robot.follower_arms[name].motors) for name in robot.follower_arms
)
dim_state = sum(len(robot.follower_arms[name].motors) for name in robot.follower_arms)
assert observation["observation.state"].shape[0] == dim_state
# Cameras
for name in robot.cameras:
@@ -121,9 +119,7 @@ def test_robot(tmp_path, request, robot_type, mock):
assert "action" in action
assert isinstance(action["action"], torch.Tensor)
assert action["action"].ndim == 1
dim_action = sum(
len(robot.follower_arms[name].motors) for name in robot.follower_arms
)
dim_action = sum(len(robot.follower_arms[name].motors) for name in robot.follower_arms)
assert action["action"].shape[0] == dim_action
# TODO(rcadene): test if observation and action data are returned as expected
@@ -134,9 +130,7 @@ def test_robot(tmp_path, request, robot_type, mock):
if "image" in name:
# TODO(rcadene): skipping image for now as it's challenging to assess equality between two consecutive frames
continue
torch.testing.assert_close(
captured_observation[name], observation[name], rtol=1e-4, atol=1
)
torch.testing.assert_close(captured_observation[name], observation[name], rtol=1e-4, atol=1)
assert captured_observation[name].shape == observation[name].shape
# Test send_action can run