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chore: use alias & constants (#2785)

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* chore: use alias and constants

* fix(rl): solve circular dependecy

* chore: nit right constant

* chore: pre-commit

* chore(script): conflict tokenizer train

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Steven Palma
2026-01-13 09:49:46 +01:00
committed by GitHub
parent 2cdd9f43f7
commit 15724826dd
51 changed files with 206 additions and 178 deletions
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11
src/lerobot/processor/env_processor.py
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@@ -18,7 +18,7 @@ from dataclasses import dataclass
import torch
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.utils.constants import OBS_IMAGES, OBS_STATE, OBS_STR
from lerobot.utils.constants import OBS_IMAGES, OBS_PREFIX, OBS_STATE, OBS_STR
from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
@@ -60,8 +60,9 @@ class LiberoProcessorStep(ObservationProcessorStep):
processed_obs[key] = img
# Process robot_state into a flat state vector
if "observation.robot_state" in processed_obs:
robot_state = processed_obs.pop("observation.robot_state")
observation_robot_state_str = OBS_PREFIX + "robot_state"
if observation_robot_state_str in processed_obs:
robot_state = processed_obs.pop(observation_robot_state_str)
# Extract components
eef_pos = robot_state["eef"]["pos"] # (B, 3,)
@@ -98,8 +99,8 @@ class LiberoProcessorStep(ObservationProcessorStep):
state_feats = {}
# add our new flattened state
state_feats["observation.state"] = PolicyFeature(
key="observation.state",
state_feats[OBS_STATE] = PolicyFeature(
key=OBS_STATE,
shape=(8,), # [eef_pos(3), axis_angle(3), gripper(2)]
dtype="float32",
description=("Concatenated end-effector position (3), axis-angle (3), and gripper qpos (2)."),