more changes

tests/processor/test_libero_processor.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import numpy as np
+from lerobot.envs.utils import preprocess_observation
+from lerobot.processor.pipeline import PolicyProcessorPipeline
+from lerobot.processor.observation_processor import LiberoProcessorStep
+import torch
+seed = 42
+np.random.seed(seed)
+
+obs1 = {
+    "pixels": {
+        "image":  (np.random.rand(1, 256, 256, 3) * 255).astype(np.uint8),
+        "image2": (np.random.rand(1, 256, 256, 3) * 255).astype(np.uint8),
+    },
+    "robot_state": {
+        "eef": {
+            "pos": np.random.randn(1, 3),
+            "quat": np.random.randn(1, 4),
+            "mat": np.random.randn(1, 3, 3),
+            "axisangle": np.random.randn(1, 3),
+        },
+        "gripper": {
+            "qpos": np.random.randn(1, 2),
+            "qvel": np.random.randn(1, 2),
+        },
+        "joints": {
+            "pos": np.random.randn(1, 7),
+            "vel": np.random.randn(1, 7),
+        }
+    }
+}
+
+observation = preprocess_observation(obs1)
+
+libero_preprocessor = PolicyProcessorPipeline(
+    steps=[
+        LiberoProcessorStep(),
+    ]
+)
+processed_obs = libero_preprocessor(observation)
+assert "observation.state" in processed_obs
+state = processed_obs["observation.state"]
+assert isinstance(state, torch.Tensor)
+assert state.dtype == torch.float32
+
+assert state.shape[0] == 1
+assert state.shape[1] == 8
+
+assert "observation.images.image" in processed_obs
+assert "observation.images.image2" in processed_obs
+
+assert isinstance(processed_obs["observation.images.image"], torch.Tensor)
+assert isinstance(processed_obs["observation.images.image2"], torch.Tensor)
+
+assert processed_obs["observation.images.image"].shape == (1, 3, 256, 256)
+assert processed_obs["observation.images.image2"].shape == (1, 3, 256, 256)