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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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6
src/lerobot/processor/observation_processor.py
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@@ -21,7 +21,7 @@ import torch
from torch import Tensor
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE, OBS_STR
from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
@@ -171,7 +171,7 @@ class VanillaObservationProcessorStep(ObservationProcessorStep):
# Prefix-based rules (e.g. pixels.cam1 -> OBS_IMAGES.cam1)
for old_prefix, new_prefix in prefix_pairs.items():
prefixed_old = f"observation.{old_prefix}"
prefixed_old = f"{OBS_STR}.{old_prefix}"
if key.startswith(prefixed_old):
suffix = key[len(prefixed_old) :]
new_key = f"{new_prefix}{suffix}"
@@ -191,7 +191,7 @@ class VanillaObservationProcessorStep(ObservationProcessorStep):
# Exact-name rules (pixels, environment_state, agent_pos)
for old, new in exact_pairs.items():
if key == old or key == f"observation.{old}":
if key == old or key == f"{OBS_STR}.{old}":
new_key = new
new_features[src_ft][new_key] = feat
handled = True