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refactor(pipeline): feature contract now categorizes between OBS or Action (#1867)

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* refactor(processor): signature of transform_features

* refactor(processor): remove prefixes + processor respect new transform_features signature + update test accordingly

* refactor(processor): rename now is only for visual

* refactor(processor): update normalize processor

* refactor(processor): update vanilla processor features

* refactor(processor): feature contract now uses its own enum

* chore(processor): rename renameprocessor

* chore(processor): minor changes

* refactor(processor): add create & change aggregate

* refactor(processor): update aggregate

* refactor(processor): simplify to functions, fix features contracts and rename function

* test(processor): remove to converter tests as now they are very simple

* chore(docs): recover docs joint observations processor

* fix(processor): update RKP

* fix(tests): recv diff test_pipeline

* chore(tests): add docs to test

* chore(processor): leave obs language constant untouched

* fix(processor): correct new shape of feature in crop image processor
This commit is contained in:
Steven Palma
2025-09-09 18:27:30 +02:00
committed by GitHub
parent acf0ba7fb3
commit e881fb6678
47 changed files with 781 additions and 616 deletions
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tests/conftest.py
+6 -4
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@@ -19,7 +19,7 @@ import traceback
import pytest
from serial import SerialException
from lerobot.configs.types import FeatureType, PolicyFeature
from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
from tests.utils import DEVICE
# Import fixture modules as plugins
@@ -83,7 +83,9 @@ def policy_feature_factory():
return _pf
def assert_contract_is_typed(features: dict[str, PolicyFeature]) -> None:
def assert_contract_is_typed(features: dict[PipelineFeatureType, dict[str, PolicyFeature]]) -> None:
assert isinstance(features, dict)
assert all(isinstance(k, str) for k in features.keys())
assert all(isinstance(v, PolicyFeature) for v in features.values())
assert all(isinstance(k, PipelineFeatureType) for k in features.keys())
assert all(isinstance(v, dict) for v in features.values())
assert all(all(isinstance(nk, str) for nk in v.keys()) for v in features.values())
assert all(all(isinstance(nv, PolicyFeature) for nv in v.values()) for v in features.values())