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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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14
tests/policies/test_policies.py
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@@ -41,7 +41,7 @@ from lerobot.policies.factory import (
make_pre_post_processors,
)
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.utils.constants import ACTION, OBS_STATE
from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
from lerobot.utils.random_utils import seeded_context
from tests.artifacts.policies.save_policy_to_safetensors import get_policy_stats
from tests.utils import DEVICE, require_cpu, require_env, require_x86_64_kernel
@@ -52,7 +52,7 @@ def dummy_dataset_metadata(lerobot_dataset_metadata_factory, info_factory, tmp_p
# Create only one camera input which is squared to fit all current policy constraints
# e.g. vqbet and tdmpc works with one camera only, and tdmpc requires it to be squared
camera_features = {
"observation.images.laptop": {
f"{OBS_IMAGES}.laptop": {
"shape": (84, 84, 3),
"names": ["height", "width", "channels"],
"info": None,
@@ -64,7 +64,7 @@ def dummy_dataset_metadata(lerobot_dataset_metadata_factory, info_factory, tmp_p
"shape": (6,),
"names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
},
"observation.state": {
OBS_STATE: {
"dtype": "float32",
"shape": (6,),
"names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
@@ -281,7 +281,7 @@ def test_multikey_construction(multikey: bool):
preventing erroneous creation of the policy object.
"""
input_features = {
"observation.state": PolicyFeature(
OBS_STATE: PolicyFeature(
type=FeatureType.STATE,
shape=(10,),
),
@@ -297,9 +297,9 @@ def test_multikey_construction(multikey: bool):
"""Simulates the complete state/action is constructed from more granular multiple
keys, of the same type as the overall state/action"""
input_features = {}
input_features["observation.state.subset1"] = PolicyFeature(type=FeatureType.STATE, shape=(5,))
input_features["observation.state.subset2"] = PolicyFeature(type=FeatureType.STATE, shape=(5,))
input_features["observation.state"] = PolicyFeature(type=FeatureType.STATE, shape=(10,))
input_features[f"{OBS_STATE}.subset1"] = PolicyFeature(type=FeatureType.STATE, shape=(5,))
input_features[f"{OBS_STATE}.subset2"] = PolicyFeature(type=FeatureType.STATE, shape=(5,))
input_features[OBS_STATE] = PolicyFeature(type=FeatureType.STATE, shape=(10,))
output_features = {}
output_features["action.first_three_motors"] = PolicyFeature(type=FeatureType.ACTION, shape=(3,))