format

tests/test_cameras.py

@@ -1,18 +1,15 @@
-
-
-from pathlib import Path
 import numpy as np
 import pytest
 
 from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
-from lerobot.common.robot_devices.utils import RobotDeviceNotConnectedError, RobotDeviceAlreadyConnectedError
-
+from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 
 CAMERA_INDEX = 2
 # Maximum absolute difference between two consecutive images recored by a camera.
 # This value differs with respect to the camera.
 MAX_PIXEL_DIFFERENCE = 25
 
+
 def compute_max_pixel_difference(first_image, second_image):
     return np.abs(first_image.astype(float) - second_image.astype(float)).max()
 
@@ -20,7 +17,7 @@ def compute_max_pixel_difference(first_image, second_image):
 def test_camera():
     """Test assumes that `camera.read()` returns the same image when called multiple times in a row.
     So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
-    
+
     Warning: The tests worked for a macbookpro camera, but I am getting assertion error (`np.allclose(color_image, async_color_image)`)
     for my iphone camera and my LG monitor camera.
     """
@@ -68,7 +65,10 @@ def test_camera():
         camera.read()
     color_image = camera.read()
     async_color_image = camera.async_read()
-    print("max_pixel_difference between read() and async_read()", compute_max_pixel_difference(color_image, async_color_image))
+    print(
+        "max_pixel_difference between read() and async_read()",
+        compute_max_pixel_difference(color_image, async_color_image),
+    )
     assert np.allclose(color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE)
 
     # Test disconnecting
@@ -86,7 +86,7 @@ def test_camera():
     camera.connect()
     assert camera.color == "bgr"
     bgr_color_image = camera.read()
-    assert np.allclose(color_image, bgr_color_image[:, :, [2,1,0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE)
+    assert np.allclose(color_image, bgr_color_image[:, :, [2, 1, 0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE)
     del camera
 
     # TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError
@@ -116,4 +116,3 @@ def test_camera():
     with pytest.raises(OSError):
         camera.connect()
     del camera
-

tests/test_control_robot.py

@@ -1,6 +1,5 @@
-
-
 from pathlib import Path
+
 from lerobot.common.policies.factory import make_policy
 from lerobot.common.robot_devices.robots.factory import make_robot
 from lerobot.common.utils.utils import init_hydra_config
@@ -21,12 +20,14 @@ def test_record_dataset_and_replay_episode_and_run_policy(tmpdir):
     env_name = "koch_real"
     policy_name = "act_koch_real"
 
-    #root = Path(tmpdir)
+    # root = Path(tmpdir)
     root = Path("tmp/data")
     repo_id = "lerobot/debug"
 
     robot = make_robot(robot_name)
-    dataset = record_dataset(robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2)
+    dataset = record_dataset(
+        robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2
+    )
 
     replay_episode(robot, episode=0, fps=30, root=root, repo_id=repo_id)
 
@@ -36,7 +37,7 @@ def test_record_dataset_and_replay_episode_and_run_policy(tmpdir):
             f"env={env_name}",
             f"policy={policy_name}",
             f"device={DEVICE}",
-        ]
+        ],
     )
 
     policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
@@ -44,4 +45,3 @@ def test_record_dataset_and_replay_episode_and_run_policy(tmpdir):
     run_policy(robot, policy, cfg, run_time_s=1)
 
     del robot
-

tests/test_motors.py

@@ -1,7 +1,8 @@
-
 import time
+
 import numpy as np
 import pytest
+
 from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 
@@ -33,7 +34,7 @@ def test_motors_bus():
         motors_bus.write("Torque_Enable", 1)
     with pytest.raises(RobotDeviceNotConnectedError):
         motors_bus.disconnect()
-    
+
     # Test deleting the object without connecting first
     del motors_bus
 
@@ -80,4 +81,3 @@ def test_motors_bus():
     time.sleep(1)
     new_values = motors_bus.read("Present_Position")
     assert (new_values == values).all()
-

tests/test_robots.py

@@ -1,7 +1,9 @@
-from pathlib import Path
 import pickle
+from pathlib import Path
+
 import pytest
 import torch
+
 from lerobot.common.robot_devices.robots.factory import make_robot
 from lerobot.common.robot_devices.robots.koch import KochRobot
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
@@ -13,7 +15,24 @@ def test_robot(tmpdir):
     # TODO(rcadene): add compatibility with other robots
 
     # Save calibration preset
-    calibration = {'follower_main': {'shoulder_pan': (-2048, False), 'shoulder_lift': (2048, True), 'elbow_flex': (-1024, False), 'wrist_flex': (2048, True), 'wrist_roll': (2048, True), 'gripper': (2048, True)}, 'leader_main': {'shoulder_pan': (-2048, False), 'shoulder_lift': (1024, True), 'elbow_flex': (2048, True), 'wrist_flex': (-2048, False), 'wrist_roll': (2048, True), 'gripper': (2048, True)}}
+    calibration = {
+        "follower_main": {
+            "shoulder_pan": (-2048, False),
+            "shoulder_lift": (2048, True),
+            "elbow_flex": (-1024, False),
+            "wrist_flex": (2048, True),
+            "wrist_roll": (2048, True),
+            "gripper": (2048, True),
+        },
+        "leader_main": {
+            "shoulder_pan": (-2048, False),
+            "shoulder_lift": (1024, True),
+            "elbow_flex": (2048, True),
+            "wrist_flex": (-2048, False),
+            "wrist_roll": (2048, True),
+            "gripper": (2048, True),
+        },
+    }
     tmpdir = Path(tmpdir)
     calibration_path = tmpdir / "calibration.pkl"
     calibration_path.parent.mkdir(parents=True, exist_ok=True)
@@ -105,4 +124,3 @@ def test_robot(tmpdir):
     for name in robot.cameras:
         assert not robot.cameras[name].is_connected
     del robot
-