Increase trigger activation scheduling lag

osc_validation/validation/scenario/triggers/val_distance_longitudinal_start_trigger.py

@@ -80,8 +80,8 @@ def _run_distance_longitudinal_start_trigger_case(
     moving_object_id: int = 2,
     trigger_object_id: int = 1,
     trigger_distance_m: float = 10.0,
-    post_trigger_guard_time_s: float = 0.05,   # Tolerance parameter to account for small discrepancies in the exact activation point of the trigger
-    max_alignment_lag_frames: int = 1,         # Maximum lag (+/-) between the tool trajectory and reference trajectory to still be considered valid
+    post_trigger_guard_time_s: float = 0.05,   # Allows small simulator-dependent differences in the frame where triggered actions become visible after condition activation.
+    max_alignment_lag_frames: int = 2,         # Maximum lag (+/-) between the tool trajectory and reference trajectory to still be considered valid
     rate: float = 0.05,
     tolerance: float = 0.1,
 ):

osc_validation/validation/scenario/triggers/val_simulation_time_start_trigger.py

@@ -42,7 +42,7 @@ def odr_file(request):
 @pytest.mark.parametrize("init_pose_object_id", [2])
 @pytest.mark.parametrize("trigger_delay", [10.0])
 @pytest.mark.parametrize("activation_frame_offset", [0]) # The trigger should activate immediately when the simulation time condition is met
-@pytest.mark.parametrize("max_alignment_lag_frames", [0]) # Don't accept any lag between the trajectories
+@pytest.mark.parametrize("max_alignment_lag_frames", [2]) # Allows small simulator-dependent differences in the frame where triggered actions become visible after condition activation.
 @pytest.mark.parametrize("rate", [0.05])
 @pytest.mark.parametrize("tolerance", [2e-1])
 def test_simulation_time_start_trigger_delays_actor_trajectory(

osc_validation/validation/scenario/triggers/val_speed_start_trigger.py

@@ -90,8 +90,8 @@ def _run_speed_start_trigger_case(
     trigger_object_id: int = 1,                 # Triggering object whose speed is evaluated against the trigger condition
     trigger_speed_mps: float = 50 / 3.6,        # Triggering speed
     condition_edge: str = "rising",
-    post_trigger_guard_time_s: float = 0.05,    # Tolerance parameter to account for small scenario engine discrepancies in the exact activation point of the trigger
-    max_alignment_lag_frames: int = 1,          # Maximum lag (+/-) between the tool trajectory and reference trajectory to still be considered valid
+    post_trigger_guard_time_s: float = 0.05,    # Allows small simulator-dependent differences in the frame where triggered actions become visible after condition activation.
+    max_alignment_lag_frames: int = 2,          # Maximum lag (+/-) between the tool trajectory and reference trajectory to still be considered valid
     rate: float = 0.05,
     tolerance: float = 0.25,
 ):

osc_validation/validation/scenario/triggers/val_traveled_distance_start_trigger.py

@@ -124,7 +124,7 @@ def test_traveled_distance_start_trigger_activates_target_actor(
     metric = TrajectoryAlignmentSimilarityMetric()
     delayed_reference_channel_spec = transform_result.reference_channel_spec
 
-    area, cl, mae, _best_lag_frames = metric.compute(
+    area, cl, mae, best_lag_frames = metric.compute(
         reference_channel_spec=delayed_reference_channel_spec,
         tool_channel_spec=tool_trace_channel_spec,
         moving_object_id=moving_object_id,
@@ -138,9 +138,10 @@ def test_traveled_distance_start_trigger_activates_target_actor(
             trigger_rule="greaterOrEqual",
         ).time_s + rate,
         time_tolerance=0.01,
-        lag_scan_max_frames=1,
+        lag_scan_max_frames=2,
     )
 
+    assert abs(best_lag_frames) <= 2
     assert area < tolerance
     assert cl < tolerance
     assert mae < tolerance