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chore: replace hard-coded obs values with constants throughout all the source code (#2037)

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* chore: replace hard-coded OBS values with constants throughout all the source code

* chore(tests): replace hard-coded OBS values with constants throughout all the test code
This commit is contained in:
Steven Palma
2025-09-25 15:36:47 +02:00
committed by GitHub
parent ddba994d73
commit 43d878a102
52 changed files with 659 additions and 649 deletions
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7
tests/utils/test_visualization_utils.py
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@@ -6,6 +6,7 @@ import numpy as np
import pytest
from lerobot.processor import TransitionKey
from lerobot.utils.constants import OBS_STATE
@pytest.fixture
@@ -72,7 +73,7 @@ def test_log_rerun_data_envtransition_scalars_and_image(mock_rerun):
# Build EnvTransition dict
obs = {
"observation.state.temperature": np.float32(25.0),
f"{OBS_STATE}.temperature": np.float32(25.0),
# CHW image should be converted to HWC for rr.Image
"observation.camera": np.zeros((3, 10, 20), dtype=np.uint8),
}
@@ -97,7 +98,7 @@ def test_log_rerun_data_envtransition_scalars_and_image(mock_rerun):
# - action.throttle -> Scalar
# - action.vector_0, action.vector_1 -> Scalars
expected_keys = {
"observation.state.temperature",
f"{OBS_STATE}.temperature",
"observation.camera",
"action.throttle",
"action.vector_0",
@@ -106,7 +107,7 @@ def test_log_rerun_data_envtransition_scalars_and_image(mock_rerun):
assert set(_keys(calls)) == expected_keys
# Check scalar types and values
temp_obj = _obj_for(calls, "observation.state.temperature")
temp_obj = _obj_for(calls, f"{OBS_STATE}.temperature")
assert type(temp_obj).__name__ == "DummyScalar"
assert temp_obj.value == pytest.approx(25.0)