removed check_timestamps_sync that is no longer used in the code,

removed tests in datasets related to check_timestamps_sync
added the use of `clear_episode_buffer` that was not used in `save_episode`
added the creation of the codebase_version tag that was missing in `slurm_upload`

tests/datasets/test_delta_timestamps.py

@@ -11,83 +11,15 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-from itertools import accumulate
-
-import datasets
-import numpy as np
-import pyarrow.compute as pc
 import pytest
-import torch
 
 from lerobot.datasets.utils import (
     check_delta_timestamps,
-    check_timestamps_sync,
     get_delta_indices,
 )
 from tests.fixtures.constants import DUMMY_MOTOR_FEATURES
 
 
-def calculate_total_episode(
-    hf_dataset: datasets.Dataset, raise_if_not_contiguous: bool = True
-) -> dict[str, torch.Tensor]:
-    episode_indices = sorted(hf_dataset.unique("episode_index"))
-    total_episodes = len(episode_indices)
-    if raise_if_not_contiguous and episode_indices != list(range(total_episodes)):
-        raise ValueError("episode_index values are not sorted and contiguous.")
-    return total_episodes
-
-
-def calculate_episode_data_index(hf_dataset: datasets.Dataset) -> dict[str, np.ndarray]:
-    episode_lengths = []
-    table = hf_dataset.data.table
-    total_episodes = calculate_total_episode(hf_dataset)
-    for ep_idx in range(total_episodes):
-        ep_table = table.filter(pc.equal(table["episode_index"], ep_idx))
-        episode_lengths.insert(ep_idx, len(ep_table))
-
-    cumulative_lengths = list(accumulate(episode_lengths))
-    return {
-        "from": np.array([0] + cumulative_lengths[:-1], dtype=np.int64),
-        "to": np.array(cumulative_lengths, dtype=np.int64),
-    }
-
-
-@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]:
-        hf_dataset = hf_dataset_factory(fps=fps)
-        timestamps = torch.stack(hf_dataset["timestamp"]).numpy()
-        episode_indices = torch.stack(hf_dataset["episode_index"]).numpy()
-        episode_data_index = calculate_episode_data_index(hf_dataset)
-        return timestamps, episode_indices, episode_data_index
-
-    return _create_synced_timestamps
-
-
-@pytest.fixture(scope="module")
-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
-        return timestamps, episode_indices, episode_data_index
-
-    return _create_unsynced_timestamps
-
-
-@pytest.fixture(scope="module")
-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
-        return timestamps, episode_indices, episode_data_index
-
-    return _create_slightly_off_timestamps
-
-
 @pytest.fixture(scope="module")
 def valid_delta_timestamps_factory():
     def _create_valid_delta_timestamps(
@@ -136,78 +68,6 @@ def delta_indices_factory():
     return _delta_indices
 
 
-def test_check_timestamps_sync_synced(synced_timestamps_factory):
-    fps = 30
-    tolerance_s = 1e-4
-    timestamps, ep_idx, ep_data_index = synced_timestamps_factory(fps)
-    result = check_timestamps_sync(
-        timestamps=timestamps,
-        episode_indices=ep_idx,
-        episode_data_index=ep_data_index,
-        fps=fps,
-        tolerance_s=tolerance_s,
-    )
-    assert result is True
-
-
-def test_check_timestamps_sync_unsynced(unsynced_timestamps_factory):
-    fps = 30
-    tolerance_s = 1e-4
-    timestamps, ep_idx, ep_data_index = unsynced_timestamps_factory(fps, tolerance_s)
-    with pytest.raises(ValueError):
-        check_timestamps_sync(
-            timestamps=timestamps,
-            episode_indices=ep_idx,
-            episode_data_index=ep_data_index,
-            fps=fps,
-            tolerance_s=tolerance_s,
-        )
-
-
-def test_check_timestamps_sync_unsynced_no_exception(unsynced_timestamps_factory):
-    fps = 30
-    tolerance_s = 1e-4
-    timestamps, ep_idx, ep_data_index = unsynced_timestamps_factory(fps, tolerance_s)
-    result = check_timestamps_sync(
-        timestamps=timestamps,
-        episode_indices=ep_idx,
-        episode_data_index=ep_data_index,
-        fps=fps,
-        tolerance_s=tolerance_s,
-        raise_value_error=False,
-    )
-    assert result is False
-
-
-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)
-    result = check_timestamps_sync(
-        timestamps=timestamps,
-        episode_indices=ep_idx,
-        episode_data_index=ep_data_index,
-        fps=fps,
-        tolerance_s=tolerance_s,
-    )
-    assert result is True
-
-
-def test_check_timestamps_sync_single_timestamp():
-    fps = 30
-    tolerance_s = 1e-4
-    timestamps, ep_idx = np.array([0.0]), np.array([0])
-    episode_data_index = {"to": np.array([1]), "from": np.array([0])}
-    result = check_timestamps_sync(
-        timestamps=timestamps,
-        episode_indices=ep_idx,
-        episode_data_index=episode_data_index,
-        fps=fps,
-        tolerance_s=tolerance_s,
-    )
-    assert result is True
-
-
 def test_check_delta_timestamps_valid(valid_delta_timestamps_factory):
     fps = 30
     tolerance_s = 1e-4