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This commit is contained in:
jade.choghari@huggingface.co
2025-11-18 14:24:59 +01:00
parent 9a115c303c
commit b4b5d057b1
2 changed files with 50 additions and 31 deletions
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tests/processor/test_libero_processor.py
+14 -14
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@@ -22,31 +22,31 @@ import torch
seed = 42
np.random.seed(seed)
B = 5
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),
"image": (np.random.rand(B, 256, 256, 3) * 255).astype(np.uint8),
"image2": (np.random.rand(B, 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),
"pos": np.random.randn(B, 3),
"quat": np.random.randn(B, 4),
"mat": np.random.randn(B, 3, 3),
"axisangle": np.random.randn(B, 3),
},
"gripper": {
"qpos": np.random.randn(1, 2),
"qvel": np.random.randn(1, 2),
"qpos": np.random.randn(B, 2),
"qvel": np.random.randn(B, 2),
},
"joints": {
"pos": np.random.randn(1, 7),
"vel": np.random.randn(1, 7),
"pos": np.random.randn(B, 7),
"vel": np.random.randn(B, 7),
}
}
}
observation = preprocess_observation(obs1)
libero_preprocessor = PolicyProcessorPipeline(
steps=[
LiberoProcessorStep(),
@@ -58,7 +58,7 @@ state = processed_obs["observation.state"]
assert isinstance(state, torch.Tensor)
assert state.dtype == torch.float32
assert state.shape[0] == 1
assert state.shape[0] == B
assert state.shape[1] == 8
assert "observation.images.image" in processed_obs
@@ -67,5 +67,5 @@ 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)
assert processed_obs["observation.images.image"].shape == (B, 3, 256, 256)
assert processed_obs["observation.images.image2"].shape == (B, 3, 256, 256)