Apply formatting again

bit-bots · Dec 19, 2024 · 933444f · 933444f
1 parent c96aa86
commit 933444f
Showing 1 changed file with 19 additions and 7 deletions.
diff --git a/ddlitlab2024/ml/inference/plot.py b/ddlitlab2024/ml/inference/plot.py
@@ -1,5 +1,6 @@
 from dataclasses import asdict
 
+import matplotlib.pyplot as plt
 import numpy as np
 import torch
 import torch.nn.functional as F  # noqa
@@ -12,8 +13,6 @@
 from ddlitlab2024.ml.model import End2EndDiffusionTransformer
 from ddlitlab2024.ml.model.encoder.image import ImageEncoderType, SequenceEncoderType
 from ddlitlab2024.ml.model.encoder.imu import IMUEncoder
-import matplotlib.pyplot as plt
-
 
 # Check if CUDA is available and set the device
 device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
@@ -99,7 +98,7 @@
 
     dataloader = iter(dataloader)
 
-    for i in range(num_samples):
+    for _ in range(num_samples):
         batch = next(dataloader)
         # Move the data to the device
         batch = {k: v.to(device) for k, v in asdict(batch).items()}
@@ -126,16 +125,29 @@
         trajectory = normalizer.denormalize(trajectory)
         noisy_trajectory = normalizer.denormalize(noisy_trajectory)
 
-        # Plot the trajectory context, the noisy trajectory, the denoised trajectory and the target trajectory for each joint
+        # Plot the trajectory context, the noisy trajectory, the denoised trajectory
+        # and the target trajectory for each joint
         plt.figure(figsize=(10, 10))
         for j in range(num_joints):
             plt.subplot(5, 4, j + 1)
 
             joint_command_context = batch["joint_command_history"][0, :, j].cpu().numpy()
             plt.plot(np.arange(len(joint_command_context)), joint_command_context, label="Context")
-            plt.plot(np.arange(len(joint_command_context), len(joint_command_context) + trajectory_prediction_length), noisy_trajectory[0, :, j].cpu().numpy(), label="Noisy Trajectory")
-            plt.plot(np.arange(len(joint_command_context), len(joint_command_context) + trajectory_prediction_length), joint_targets[0, :, j].cpu().numpy(), label="Target Trajectory")
-            plt.plot(np.arange(len(joint_command_context), len(joint_command_context) + trajectory_prediction_length), trajectory[0, :, j].cpu().numpy(), label="Denoised Trajectory")
+            plt.plot(
+                np.arange(len(joint_command_context), len(joint_command_context) + trajectory_prediction_length),
+                noisy_trajectory[0, :, j].cpu().numpy(),
+                label="Noisy Trajectory",
+            )
+            plt.plot(
+                np.arange(len(joint_command_context), len(joint_command_context) + trajectory_prediction_length),
+                joint_targets[0, :, j].cpu().numpy(),
+                label="Target Trajectory",
+            )
+            plt.plot(
+                np.arange(len(joint_command_context), len(joint_command_context) + trajectory_prediction_length),
+                trajectory[0, :, j].cpu().numpy(),
+                label="Denoised Trajectory",
+            )
             plt.title(f"Joint {dataset.joint_names[j]}")
         plt.legend()
         plt.show()