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Merged
leshy merged 1 commit into from
Jun 17, 2025
Merged

Update testing_stream_reply.md #342

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15 changes: 9 additions & 6 deletions docs/testing_stream_reply.md
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Expand Up @@ -45,7 +45,8 @@ SensorReplay(name="raw_odometry_rotate_walk").iterate(print)
```python
from rx import operators as ops
from operator import sub, add
from sensor_tools import SensorReplay, Odometry
from dimos.utils.testing import SensorReplay, SensorStorage
from dimos.robot.unitree_webrtc.type.odometry import Odometry

# Compute total yaw rotation (radians)

Expand All @@ -67,8 +68,8 @@ assert total_rad == pytest.approx(4.05, abs=0.01)
### 3.3 Lidar Mapping Example (200MB blob)

```python
from sensor_tools import SensorReplay, LidarMessage
from mapping import Map
from dimos.utils.testing import SensorReplay, SensorStorage
from dimos.robot.unitree_webrtc.type.map import Map

lidar_stream = SensorReplay("office_lidar", autocast=LidarMessage.from_msg)
map_ = Map(voxel_size=0.5)
Expand Down Expand Up @@ -134,9 +135,11 @@ Just copy to `tests/data/whatever`
## 7 Developer Workflow Checklist

1. **Drop new data** into `tests/data/`.
2. Run `./bin/lfs_push` (or let the pre commit hook nag you).
3. Commit the resulting `tests/data/.lfs/<name>.tar.gz`.
4. Open PR — reviewers pull only what they need, when they need it.
2. Run your new tests that use SensorReplay or testData calls, make sure all works
3. Run `./bin/lfs_push` (or let the pre commit hook nag you).
4. Commit the resulting `tests/data/.lfs/<name>.tar.gz`.
5. Optional - you can delete `tests/data/your_new_stuff` and re-run the test to ensure it gets downloaded from LFS correclty
6. Push/PR

### 7.1 Pre commit Setup (optional but recommended)

Expand Down