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feat(self-obstruction): remove gripper self-obstruction as a blurry trigger

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CarolinePascal
2026-07-31 14:46:04 +02:00
parent fae2848dd7
commit 93fe77ee20
3 changed files with 22 additions and 3 deletions
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tests/annotations/test_camera_curation.py
+9
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@@ -124,6 +124,15 @@ def test_curate_cameras_parses_and_validates(tmp_path):
assert verdicts["observation.images.c"].view_label is None # no frames
def test_curate_cameras_canonicalizes_combo_order():
cfg = CameraCurationConfig(view_vocabulary=VOCAB)
frames = {"observation.images.a": [_tiny_image()]}
# VLM emits the combo in the "wrong" order; we normalize to <side>_wrist.
vlm = _queued_vlm([{"usable": True, "blur_reason": None, "view_label": "wrist_left"}])
(verdict,) = curate_cameras(frames, cfg, vlm)
assert verdict.view_label == "left_wrist"
def test_build_name_mapping_and_collision():
cfg = CameraCurationConfig(view_vocabulary=VOCAB)
existing = {"observation.images.cam_0": {}, "observation.images.cam_1": {}, "observation.images.top": {}}