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refactor(policies): multiple improvements

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This commit is contained in:
Steven Palma
2026-07-02 14:03:56 +02:00
parent 2afe2864e9
commit f5ac58adb9
14 changed files with 749 additions and 250 deletions
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tests/envs/test_dispatch.py
+1 -23
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@@ -64,28 +64,6 @@ def test_processors_delegation():
assert len(pre.steps) == 0
def test_processors_delegation_supports_legacy_override_signature():
"""External EnvConfig subclasses with the old get_env_processors() signature keep working."""
from lerobot.processor.pipeline import DataProcessorPipeline
@EnvConfig.register_subclass("_dispatch_legacy_proc_test")
@dataclass
class _Env(EnvConfig):
task: str = "x"
features: dict[str, PolicyFeature] = field(default_factory=dict)
@property
def gym_kwargs(self):
return {}
def get_env_processors(self):
return DataProcessorPipeline(steps=[]), DataProcessorPipeline(steps=[])
pre, post = make_env_pre_post_processors(_Env(), policy_cfg=object())
assert isinstance(pre, DataProcessorPipeline)
assert isinstance(post, DataProcessorPipeline)
def test_libero_processors_are_policy_agnostic():
cfg = LiberoEnv()
pre, post = make_env_pre_post_processors(cfg, policy_cfg=object())
@@ -186,7 +164,7 @@ def test_custom_get_env_processors_override():
def gym_kwargs(self):
return {}
def get_env_processors(self, policy_cfg=None):
def get_env_processors(self):
return DataProcessorPipeline(steps=[]), DataProcessorPipeline(steps=[])
pre, post = _Env().get_env_processors()