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fix(tests): remove lint warnings/errors

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This commit is contained in:
Steven Palma
2025-03-07 14:45:09 +01:00
parent e59ef036e1
commit 0eb56cec14
24 changed files with 163 additions and 133 deletions
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68
tests/fixtures/dataset_factories.py vendored
View File

@@ -52,16 +52,16 @@ def get_task_index(task_dicts: dict, task: str) -> int:
return task_to_task_index[task]
@pytest.fixture(scope="session")
def img_tensor_factory():
@pytest.fixture(name="img_tensor_factory", scope="session")
def fixture_img_tensor_factory():
def _create_img_tensor(height=100, width=100, channels=3, dtype=torch.float32) -> torch.Tensor:
return torch.rand((channels, height, width), dtype=dtype)
return _create_img_tensor
@pytest.fixture(scope="session")
def img_array_factory():
@pytest.fixture(name="img_array_factory", scope="session")
def fixture_img_array_factory():
def _create_img_array(height=100, width=100, channels=3, dtype=np.uint8) -> np.ndarray:
if np.issubdtype(dtype, np.unsignedinteger):
# Int array in [0, 255] range
@@ -76,8 +76,8 @@ def img_array_factory():
return _create_img_array
@pytest.fixture(scope="session")
def img_factory(img_array_factory):
@pytest.fixture(name="img_factory", scope="session")
def fixture_img_factory(img_array_factory):
def _create_img(height=100, width=100) -> PIL.Image.Image:
img_array = img_array_factory(height=height, width=width)
return PIL.Image.fromarray(img_array)
@@ -85,13 +85,17 @@ def img_factory(img_array_factory):
return _create_img
@pytest.fixture(scope="session")
def features_factory():
@pytest.fixture(name="features_factory", scope="session")
def fixture_features_factory():
def _create_features(
motor_features: dict = DUMMY_MOTOR_FEATURES,
camera_features: dict = DUMMY_CAMERA_FEATURES,
motor_features: dict | None = None,
camera_features: dict | None = None,
use_videos: bool = True,
) -> dict:
if motor_features is None:
motor_features = DUMMY_MOTOR_FEATURES
if camera_features is None:
camera_features = DUMMY_CAMERA_FEATURES
if use_videos:
camera_ft = {
key: {"dtype": "video", **ft, **DUMMY_VIDEO_INFO} for key, ft in camera_features.items()
@@ -107,8 +111,8 @@ def features_factory():
return _create_features
@pytest.fixture(scope="session")
def info_factory(features_factory):
@pytest.fixture(name="info_factory", scope="session")
def fixture_info_factory(features_factory):
def _create_info(
codebase_version: str = CODEBASE_VERSION,
fps: int = DEFAULT_FPS,
@@ -121,10 +125,14 @@ def info_factory(features_factory):
chunks_size: int = DEFAULT_CHUNK_SIZE,
data_path: str = DEFAULT_PARQUET_PATH,
video_path: str = DEFAULT_VIDEO_PATH,
motor_features: dict = DUMMY_MOTOR_FEATURES,
camera_features: dict = DUMMY_CAMERA_FEATURES,
motor_features: dict | None = None,
camera_features: dict | None = None,
use_videos: bool = True,
) -> dict:
if motor_features is None:
motor_features = DUMMY_MOTOR_FEATURES
if camera_features is None:
camera_features = DUMMY_CAMERA_FEATURES
features = features_factory(motor_features, camera_features, use_videos)
return {
"codebase_version": codebase_version,
@@ -145,8 +153,8 @@ def info_factory(features_factory):
return _create_info
@pytest.fixture(scope="session")
def stats_factory():
@pytest.fixture(name="stats_factory", scope="session")
def fixture_stats_factory():
def _create_stats(
features: dict[str] | None = None,
) -> dict:
@@ -175,8 +183,8 @@ def stats_factory():
return _create_stats
@pytest.fixture(scope="session")
def episodes_stats_factory(stats_factory):
@pytest.fixture(name="episodes_stats_factory", scope="session")
def fixture_episodes_stats_factory(stats_factory):
def _create_episodes_stats(
features: dict[str],
total_episodes: int = 3,
@@ -192,8 +200,8 @@ def episodes_stats_factory(stats_factory):
return _create_episodes_stats
@pytest.fixture(scope="session")
def tasks_factory():
@pytest.fixture(name="tasks_factory", scope="session")
def fixture_tasks_factory():
def _create_tasks(total_tasks: int = 3) -> int:
tasks = {}
for task_index in range(total_tasks):
@@ -204,8 +212,8 @@ def tasks_factory():
return _create_tasks
@pytest.fixture(scope="session")
def episodes_factory(tasks_factory):
@pytest.fixture(name="episodes_factory", scope="session")
def fixture_episodes_factory(tasks_factory):
def _create_episodes(
total_episodes: int = 3,
total_frames: int = 400,
@@ -252,8 +260,8 @@ def episodes_factory(tasks_factory):
return _create_episodes
@pytest.fixture(scope="session")
def hf_dataset_factory(features_factory, tasks_factory, episodes_factory, img_array_factory):
@pytest.fixture(name="hf_dataset_factory", scope="session")
def fixture_hf_dataset_factory(features_factory, tasks_factory, episodes_factory, img_array_factory):
def _create_hf_dataset(
features: dict | None = None,
tasks: list[dict] | None = None,
@@ -310,8 +318,8 @@ def hf_dataset_factory(features_factory, tasks_factory, episodes_factory, img_ar
return _create_hf_dataset
@pytest.fixture(scope="session")
def lerobot_dataset_metadata_factory(
@pytest.fixture(name="lerobot_dataset_metadata_factory", scope="session")
def fixture_lerobot_dataset_metadata_factory(
info_factory,
stats_factory,
episodes_stats_factory,
@@ -364,8 +372,8 @@ def lerobot_dataset_metadata_factory(
return _create_lerobot_dataset_metadata
@pytest.fixture(scope="session")
def lerobot_dataset_factory(
@pytest.fixture(name="lerobot_dataset_factory", scope="session")
def fixture_lerobot_dataset_factory(
info_factory,
stats_factory,
episodes_stats_factory,
@@ -443,6 +451,6 @@ def lerobot_dataset_factory(
return _create_lerobot_dataset
@pytest.fixture(scope="session")
def empty_lerobot_dataset_factory() -> LeRobotDatasetFactory:
@pytest.fixture(name="empty_lerobot_dataset_factory", scope="session")
def fixture_empty_lerobot_dataset_factory() -> LeRobotDatasetFactory:
return partial(LeRobotDataset.create, repo_id=DUMMY_REPO_ID, fps=DEFAULT_FPS)

34
tests/fixtures/files.py vendored
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@@ -31,12 +31,12 @@ from lerobot.common.datasets.utils import (
@pytest.fixture(scope="session")
def info_path(info_factory):
def _create_info_json_file(dir: Path, info: dict | None = None) -> Path:
def _create_info_json_file(input_dir: Path, info: dict | None = None) -> Path:
if not info:
info = info_factory()
fpath = dir / INFO_PATH
fpath = input_dir / INFO_PATH
fpath.parent.mkdir(parents=True, exist_ok=True)
with open(fpath, "w") as f:
with open(fpath, "w", encoding="utf-8") as f:
json.dump(info, f, indent=4, ensure_ascii=False)
return fpath
@@ -45,12 +45,12 @@ def info_path(info_factory):
@pytest.fixture(scope="session")
def stats_path(stats_factory):
def _create_stats_json_file(dir: Path, stats: dict | None = None) -> Path:
def _create_stats_json_file(input_dir: Path, stats: dict | None = None) -> Path:
if not stats:
stats = stats_factory()
fpath = dir / STATS_PATH
fpath = input_dir / STATS_PATH
fpath.parent.mkdir(parents=True, exist_ok=True)
with open(fpath, "w") as f:
with open(fpath, "w", encoding="utf-8") as f:
json.dump(stats, f, indent=4, ensure_ascii=False)
return fpath
@@ -59,10 +59,10 @@ def stats_path(stats_factory):
@pytest.fixture(scope="session")
def episodes_stats_path(episodes_stats_factory):
def _create_episodes_stats_jsonl_file(dir: Path, episodes_stats: list[dict] | None = None) -> Path:
def _create_episodes_stats_jsonl_file(input_dir: Path, episodes_stats: list[dict] | None = None) -> Path:
if not episodes_stats:
episodes_stats = episodes_stats_factory()
fpath = dir / EPISODES_STATS_PATH
fpath = input_dir / EPISODES_STATS_PATH
fpath.parent.mkdir(parents=True, exist_ok=True)
with jsonlines.open(fpath, "w") as writer:
writer.write_all(episodes_stats.values())
@@ -73,10 +73,10 @@ def episodes_stats_path(episodes_stats_factory):
@pytest.fixture(scope="session")
def tasks_path(tasks_factory):
def _create_tasks_jsonl_file(dir: Path, tasks: list | None = None) -> Path:
def _create_tasks_jsonl_file(input_dir: Path, tasks: list | None = None) -> Path:
if not tasks:
tasks = tasks_factory()
fpath = dir / TASKS_PATH
fpath = input_dir / TASKS_PATH
fpath.parent.mkdir(parents=True, exist_ok=True)
with jsonlines.open(fpath, "w") as writer:
writer.write_all(tasks.values())
@@ -87,10 +87,10 @@ def tasks_path(tasks_factory):
@pytest.fixture(scope="session")
def episode_path(episodes_factory):
def _create_episodes_jsonl_file(dir: Path, episodes: list | None = None) -> Path:
def _create_episodes_jsonl_file(input_dir: Path, episodes: list | None = None) -> Path:
if not episodes:
episodes = episodes_factory()
fpath = dir / EPISODES_PATH
fpath = input_dir / EPISODES_PATH
fpath.parent.mkdir(parents=True, exist_ok=True)
with jsonlines.open(fpath, "w") as writer:
writer.write_all(episodes.values())
@@ -102,7 +102,7 @@ def episode_path(episodes_factory):
@pytest.fixture(scope="session")
def single_episode_parquet_path(hf_dataset_factory, info_factory):
def _create_single_episode_parquet(
dir: Path, ep_idx: int = 0, hf_dataset: datasets.Dataset | None = None, info: dict | None = None
input_dir: Path, ep_idx: int = 0, hf_dataset: datasets.Dataset | None = None, info: dict | None = None
) -> Path:
if not info:
info = info_factory()
@@ -112,7 +112,7 @@ def single_episode_parquet_path(hf_dataset_factory, info_factory):
data_path = info["data_path"]
chunks_size = info["chunks_size"]
ep_chunk = ep_idx // chunks_size
fpath = dir / data_path.format(episode_chunk=ep_chunk, episode_index=ep_idx)
fpath = input_dir / data_path.format(episode_chunk=ep_chunk, episode_index=ep_idx)
fpath.parent.mkdir(parents=True, exist_ok=True)
table = hf_dataset.data.table
ep_table = table.filter(pc.equal(table["episode_index"], ep_idx))
@@ -125,7 +125,7 @@ def single_episode_parquet_path(hf_dataset_factory, info_factory):
@pytest.fixture(scope="session")
def multi_episode_parquet_path(hf_dataset_factory, info_factory):
def _create_multi_episode_parquet(
dir: Path, hf_dataset: datasets.Dataset | None = None, info: dict | None = None
input_dir: Path, hf_dataset: datasets.Dataset | None = None, info: dict | None = None
) -> Path:
if not info:
info = info_factory()
@@ -137,11 +137,11 @@ def multi_episode_parquet_path(hf_dataset_factory, info_factory):
total_episodes = info["total_episodes"]
for ep_idx in range(total_episodes):
ep_chunk = ep_idx // chunks_size
fpath = dir / data_path.format(episode_chunk=ep_chunk, episode_index=ep_idx)
fpath = input_dir / data_path.format(episode_chunk=ep_chunk, episode_index=ep_idx)
fpath.parent.mkdir(parents=True, exist_ok=True)
table = hf_dataset.data.table
ep_table = table.filter(pc.equal(table["episode_index"], ep_idx))
pq.write_table(ep_table, fpath)
return dir / "data"
return input_dir / "data"
return _create_multi_episode_parquet

6
tests/fixtures/hub.py vendored
View File

@@ -81,12 +81,12 @@ def mock_snapshot_download_factory(
return None
def _mock_snapshot_download(
repo_id: str,
_repo_id: str,
*_args,
local_dir: str | Path | None = None,
allow_patterns: str | list[str] | None = None,
ignore_patterns: str | list[str] | None = None,
*args,
**kwargs,
**_kwargs,
) -> str:
if not local_dir:
local_dir = LEROBOT_TEST_DIR

12
tests/fixtures/optimizers.py vendored
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@@ -18,13 +18,13 @@ from lerobot.common.optim.optimizers import AdamConfig
from lerobot.common.optim.schedulers import VQBeTSchedulerConfig
@pytest.fixture
def model_params():
@pytest.fixture(name="model_params")
def fixture_model_params():
return [torch.nn.Parameter(torch.randn(10, 10))]
@pytest.fixture
def optimizer(model_params):
@pytest.fixture(name="optimizer")
def fixture_optimizer(model_params):
optimizer = AdamConfig().build(model_params)
# Dummy step to populate state
loss = sum(param.sum() for param in model_params)
@@ -33,7 +33,7 @@ def optimizer(model_params):
return optimizer
@pytest.fixture
def scheduler(optimizer):
@pytest.fixture(name="scheduler")
def fixture_scheduler(optimizer):
config = VQBeTSchedulerConfig(num_warmup_steps=10, num_vqvae_training_steps=20, num_cycles=0.5)
return config.build(optimizer, num_training_steps=100)