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refactor(g05): defer PandaOmron embodiment mapping

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Pepijn
2026-07-29 19:20:01 +02:00
parent 47f845ac5d
commit 83a71fc6c0
3 changed files with 2 additions and 102 deletions
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tests/policies/g05/test_g05.py
-74
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@@ -237,36 +237,6 @@ def test_select_action_discards_tail_beyond_execution_window():
assert calls == 2
def test_libero_and_atomic4_are_distinct_validated_mappings():
with pytest.raises(ValueError, match="27D"):
G05Config(
checkpoint_profile="custom",
embodiment="atomic_4",
raw_state_dim=16,
raw_action_dim=12,
camera_order=(
"observation.images.robot0_agentview_left",
"observation.images.robot0_eye_in_hand",
"observation.images.robot0_agentview_right",
),
)
cfg = G05Config(
checkpoint_profile="custom",
embodiment="atomic_4",
raw_state_dim=16,
raw_action_dim=12,
policy_state_dim=27,
policy_action_dim=27,
camera_order=(
"observation.images.robot0_agentview_left",
"observation.images.robot0_eye_in_hand",
"observation.images.robot0_agentview_right",
),
)
assert cfg.embodiment == "atomic_4"
def test_libero_projection_mask_and_inverse_roundtrip():
config = _config()
preprocessor, postprocessor = make_pre_post_processors(config)
@@ -331,50 +301,6 @@ def test_lerobot_libero_two_finger_state_matches_author_first_qpos_contract():
assert torch.equal(processed[OBS_STATE][0, list(checkpoint_slots)], env_state[:7])
def test_atomic4_projection_has_mobile_base_control_mode_and_exact_inverse():
config = G05Config(
checkpoint_profile="custom",
embodiment="atomic_4",
raw_state_dim=16,
raw_action_dim=12,
policy_state_dim=27,
policy_action_dim=27,
normalization_mode="identity",
camera_order=(
"observation.images.robot0_agentview_left",
"observation.images.robot0_eye_in_hand",
"observation.images.robot0_agentview_right",
),
input_features={
OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(16,)),
"observation.images.robot0_agentview_left": PolicyFeature(
type=FeatureType.VISUAL, shape=(3, 8, 8)
),
"observation.images.robot0_eye_in_hand": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 8, 8)),
"observation.images.robot0_agentview_right": PolicyFeature(
type=FeatureType.VISUAL, shape=(3, 8, 8)
),
},
output_features={ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(12,))},
device="cpu",
)
preprocessor, postprocessor = make_pre_post_processors(config)
raw_action = torch.arange(12, dtype=torch.float32).repeat(3, 1)
batch = {
OBS_STATE: torch.arange(16, dtype=torch.float32),
ACTION: raw_action,
**{camera: torch.zeros(3, 8, 8) for camera in config.camera_order},
"task": "atomic",
}
processed = preprocessor(batch)
indices = G05_EMBODIMENT_MAPPINGS["atomic_4"]["action"]
assert torch.equal(processed[ACTION][..., list(indices)], raw_action)
assert torch.equal(postprocessor(processed[ACTION]), raw_action)
# Last five raw dimensions are base motion[4] and control mode.
assert indices[-5:] == (20, 21, 22, 23, 24)
def test_quantile_mode_refuses_minmax_substitution():
config = _config(normalization_mode="q01_q99")
stats = {