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pepijn
9d00293f49
Package fitted tokenizer artifacts with processor pipelines so pretrained PI052 checkpoints restore their saved recipe and normalization state without refitting. Co-authored-by: Cursor <cursoragent@cursor.com>
49 lines
1.8 KiB
Python
49 lines
1.8 KiB
Python
#!/usr/bin/env python
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# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import numpy as np
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from lerobot.envs.robocasa import RoboCasaEnv, convert_action
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def test_robocasa_action_uses_openpi_checkpoint_order():
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action = np.arange(12, dtype=np.float32)
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converted = convert_action(action)
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np.testing.assert_array_equal(converted["action.end_effector_position"], [0, 1, 2])
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np.testing.assert_array_equal(converted["action.end_effector_rotation"], [3, 4, 5])
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np.testing.assert_array_equal(converted["action.gripper_close"], [6])
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np.testing.assert_array_equal(converted["action.base_motion"], [7, 8, 9, 10])
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np.testing.assert_array_equal(converted["action.control_mode"], [11])
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def test_robocasa_state_uses_openpi_checkpoint_order():
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env = object.__new__(RoboCasaEnv)
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env.obs_type = "pixels_agent_pos"
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env.camera_name = []
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raw_observation = {
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"state.end_effector_position_relative": np.arange(0, 3),
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"state.end_effector_rotation_relative": np.arange(3, 7),
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"state.base_position": np.arange(7, 10),
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"state.base_rotation": np.arange(10, 14),
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"state.gripper_qpos": np.arange(14, 16),
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}
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observation = env._format_raw_obs(raw_observation)
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np.testing.assert_array_equal(observation["agent_pos"], np.arange(16, dtype=np.float32))
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