tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

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

Browse Source 
for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
2025-03-24 13:16:38 +00:00
committed by Michel Aractingi
parent cdcf346061
commit 1c8daf11fd
95 changed files with 1592 additions and 491 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
tests/datasets/test_delta_timestamps.py
View File

@@ -54,7 +54,9 @@ def calculate_episode_data_index(hf_dataset: datasets.Dataset) -> dict[str, np.n
@pytest.fixture(scope="module")
def synced_timestamps_factory(hf_dataset_factory):
def _create_synced_timestamps(fps: int = 30) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
def _create_synced_timestamps(
fps: int = 30,
) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
hf_dataset = hf_dataset_factory(fps=fps)
timestamps = torch.stack(hf_dataset["timestamp"]).numpy()
episode_indices = torch.stack(hf_dataset["episode_index"]).numpy()
@@ -69,8 +71,12 @@ def unsynced_timestamps_factory(synced_timestamps_factory):
def _create_unsynced_timestamps(
fps: int = 30, tolerance_s: float = 1e-4
) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
timestamps, episode_indices, episode_data_index = synced_timestamps_factory(fps=fps)
timestamps[30] += tolerance_s * 1.1 # Modify a single timestamp just outside tolerance
timestamps, episode_indices, episode_data_index = synced_timestamps_factory(
fps=fps
)
timestamps[30] += (
tolerance_s * 1.1
) # Modify a single timestamp just outside tolerance
return timestamps, episode_indices, episode_data_index
return _create_unsynced_timestamps
@@ -81,8 +87,12 @@ def slightly_off_timestamps_factory(synced_timestamps_factory):
def _create_slightly_off_timestamps(
fps: int = 30, tolerance_s: float = 1e-4
) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
timestamps, episode_indices, episode_data_index = synced_timestamps_factory(fps=fps)
timestamps[30] += tolerance_s * 0.9 # Modify a single timestamp just inside tolerance
timestamps, episode_indices, episode_data_index = synced_timestamps_factory(
fps=fps
)
timestamps[30] += (
tolerance_s * 0.9
) # Modify a single timestamp just inside tolerance
return timestamps, episode_indices, episode_data_index
return _create_slightly_off_timestamps
@@ -91,9 +101,13 @@ def slightly_off_timestamps_factory(synced_timestamps_factory):
@pytest.fixture(scope="module")
def valid_delta_timestamps_factory():
def _create_valid_delta_timestamps(
fps: int = 30, keys: list = DUMMY_MOTOR_FEATURES, min_max_range: tuple[int, int] = (-10, 10)
fps: int = 30,
keys: list = DUMMY_MOTOR_FEATURES,
min_max_range: tuple[int, int] = (-10, 10),
) -> dict:
delta_timestamps = {key: [i * (1 / fps) for i in range(*min_max_range)] for key in keys}
delta_timestamps = {
key: [i * (1 / fps) for i in range(*min_max_range)] for key in keys
}
return delta_timestamps
return _create_valid_delta_timestamps
@@ -130,7 +144,9 @@ def slightly_off_delta_timestamps_factory(valid_delta_timestamps_factory):
@pytest.fixture(scope="module")
def delta_indices_factory():
def _delta_indices(keys: list = DUMMY_MOTOR_FEATURES, min_max_range: tuple[int, int] = (-10, 10)) -> dict:
def _delta_indices(
keys: list = DUMMY_MOTOR_FEATURES, min_max_range: tuple[int, int] = (-10, 10)
) -> dict:
return {key: list(range(*min_max_range)) for key in keys}
return _delta_indices
@@ -182,7 +198,9 @@ def test_check_timestamps_sync_unsynced_no_exception(unsynced_timestamps_factory
def test_check_timestamps_sync_slightly_off(slightly_off_timestamps_factory):
fps = 30
tolerance_s = 1e-4
timestamps, ep_idx, ep_data_index = slightly_off_timestamps_factory(fps, tolerance_s)
timestamps, ep_idx, ep_data_index = slightly_off_timestamps_factory(
fps, tolerance_s
)
result = check_timestamps_sync(
timestamps=timestamps,
episode_indices=ep_idx,
@@ -223,7 +241,9 @@ def test_check_delta_timestamps_valid(valid_delta_timestamps_factory):
def test_check_delta_timestamps_slightly_off(slightly_off_delta_timestamps_factory):
fps = 30
tolerance_s = 1e-4
slightly_off_delta_timestamps = slightly_off_delta_timestamps_factory(fps, tolerance_s)
slightly_off_delta_timestamps = slightly_off_delta_timestamps_factory(
fps, tolerance_s
)
result = check_delta_timestamps(
delta_timestamps=slightly_off_delta_timestamps,
fps=fps,