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Fix tests

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This commit is contained in:
Simon Alibert
2024-11-05 19:09:12 +01:00
parent aed9f4036a
commit f3630ad910
13 changed files with 437 additions and 496 deletions
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23
tests/test_delta_timestamps.py
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@@ -3,12 +3,13 @@ import torch
from datasets import Dataset
from lerobot.common.datasets.utils import (
calculate_episode_data_index,
check_delta_timestamps,
check_timestamps_sync,
get_delta_indices,
hf_transform_to_torch,
)
from tests.fixtures.defaults import DUMMY_KEYS
from tests.fixtures.defaults import DUMMY_MOTOR_FEATURES
@pytest.fixture(scope="module")
@@ -53,7 +54,7 @@ def slightly_off_hf_dataset_factory(synced_hf_dataset_factory):
@pytest.fixture(scope="module")
def valid_delta_timestamps_factory():
def _create_valid_delta_timestamps(fps: int = 30, keys: list = DUMMY_KEYS) -> dict:
def _create_valid_delta_timestamps(fps: int = 30, keys: list = DUMMY_MOTOR_FEATURES) -> dict:
delta_timestamps = {key: [i * (1 / fps) for i in range(-10, 10)] for key in keys}
return delta_timestamps
@@ -63,7 +64,7 @@ def valid_delta_timestamps_factory():
@pytest.fixture(scope="module")
def invalid_delta_timestamps_factory(valid_delta_timestamps_factory):
def _create_invalid_delta_timestamps(
fps: int = 30, tolerance_s: float = 1e-4, keys: list = DUMMY_KEYS
fps: int = 30, tolerance_s: float = 1e-4, keys: list = DUMMY_MOTOR_FEATURES
) -> dict:
delta_timestamps = valid_delta_timestamps_factory(fps, keys)
# Modify a single timestamp just outside tolerance
@@ -77,7 +78,7 @@ def invalid_delta_timestamps_factory(valid_delta_timestamps_factory):
@pytest.fixture(scope="module")
def slightly_off_delta_timestamps_factory(valid_delta_timestamps_factory):
def _create_slightly_off_delta_timestamps(
fps: int = 30, tolerance_s: float = 1e-4, keys: list = DUMMY_KEYS
fps: int = 30, tolerance_s: float = 1e-4, keys: list = DUMMY_MOTOR_FEATURES
) -> dict:
delta_timestamps = valid_delta_timestamps_factory(fps, keys)
# Modify a single timestamp just inside tolerance
@@ -90,14 +91,15 @@ def slightly_off_delta_timestamps_factory(valid_delta_timestamps_factory):
@pytest.fixture(scope="module")
def delta_indices(keys: list = DUMMY_KEYS) -> dict:
def delta_indices(keys: list = DUMMY_MOTOR_FEATURES) -> dict:
return {key: list(range(-10, 10)) for key in keys}
def test_check_timestamps_sync_synced(synced_hf_dataset_factory, episode_data_index):
def test_check_timestamps_sync_synced(synced_hf_dataset_factory):
fps = 30
tolerance_s = 1e-4
synced_hf_dataset = synced_hf_dataset_factory(fps)
episode_data_index = calculate_episode_data_index(synced_hf_dataset)
result = check_timestamps_sync(
hf_dataset=synced_hf_dataset,
episode_data_index=episode_data_index,
@@ -107,10 +109,11 @@ def test_check_timestamps_sync_synced(synced_hf_dataset_factory, episode_data_in
assert result is True
def test_check_timestamps_sync_unsynced(unsynced_hf_dataset_factory, episode_data_index):
def test_check_timestamps_sync_unsynced(unsynced_hf_dataset_factory):
fps = 30
tolerance_s = 1e-4
unsynced_hf_dataset = unsynced_hf_dataset_factory(fps, tolerance_s)
episode_data_index = calculate_episode_data_index(unsynced_hf_dataset)
with pytest.raises(ValueError):
check_timestamps_sync(
hf_dataset=unsynced_hf_dataset,
@@ -120,10 +123,11 @@ def test_check_timestamps_sync_unsynced(unsynced_hf_dataset_factory, episode_dat
)
def test_check_timestamps_sync_unsynced_no_exception(unsynced_hf_dataset_factory, episode_data_index):
def test_check_timestamps_sync_unsynced_no_exception(unsynced_hf_dataset_factory):
fps = 30
tolerance_s = 1e-4
unsynced_hf_dataset = unsynced_hf_dataset_factory(fps, tolerance_s)
episode_data_index = calculate_episode_data_index(unsynced_hf_dataset)
result = check_timestamps_sync(
hf_dataset=unsynced_hf_dataset,
episode_data_index=episode_data_index,
@@ -134,10 +138,11 @@ def test_check_timestamps_sync_unsynced_no_exception(unsynced_hf_dataset_factory
assert result is False
def test_check_timestamps_sync_slightly_off(slightly_off_hf_dataset_factory, episode_data_index):
def test_check_timestamps_sync_slightly_off(slightly_off_hf_dataset_factory):
fps = 30
tolerance_s = 1e-4
slightly_off_hf_dataset = slightly_off_hf_dataset_factory(fps, tolerance_s)
episode_data_index = calculate_episode_data_index(slightly_off_hf_dataset)
result = check_timestamps_sync(
hf_dataset=slightly_off_hf_dataset,
episode_data_index=episode_data_index,