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Merged
vertix merged 7 commits into from
Jul 27, 2026
Merged

Route raw observation keys through a canonical positronic.keys module #505

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3f2e806
Route raw observation keys through a canonical `positronic.keys` module
vertix Jul 23, 2026
dbeae95
Type-clean the keys-migration touched test lines
vertix Jul 23, 2026
3ebdb76
Recapture pre-existing torch/lerobot foreign-import errors in the typ…
vertix Jul 27, 2026
9a565b2
Guard against reintroducing raw observation-key literals
vertix Jul 27, 2026
f7fa7bd
Route recorded-task reads through keys.TASK; keep model/display field…
vertix Jul 27, 2026
262f524
Guard `positronic.keys` against gaining any import
vertix Jul 27, 2026
e0cae79
Route utilities/ raw observation keys through `keys`; widen the guard
vertix Jul 27, 2026
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184 changes: 24 additions & 160 deletions .basedpyright/baseline.json
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1163,6 +1163,14 @@
}
],
"./positronic/cfg/policy.py": [
{
"code": "reportMissingImports",
"range": {
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}
},
{
"code": "reportArgumentType",
"range": {
Expand Down Expand Up @@ -8215,54 +8223,6 @@
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Expand Down Expand Up @@ -8537,14 +8497,6 @@
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"range": {
Expand Down Expand Up @@ -10541,6 +10493,14 @@
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"./positronic/simulator/robolab/env.py": [
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Expand Down Expand Up @@ -10891,6 +10851,14 @@
}
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"./positronic/simulator/robolab/validate.py": [
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Expand Down Expand Up @@ -10997,22 +10965,6 @@
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Expand Down Expand Up @@ -11109,94 +11061,6 @@
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Expand Down
19 changes: 10 additions & 9 deletions positronic/cfg/analysis.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import pos3

import positronic.cfg.ds as base_cfg
from positronic import keys
from positronic.cfg.ds import internal
from positronic.cfg.eval.real import tasks
from positronic.dataset.episode import Episode
Expand All @@ -20,7 +21,7 @@
def task_code(ep: Episode) -> str:
if 'eval.object' in ep:
return ep['eval.object']
match ep['task']:
match ep[keys.TASK]:
case tasks.TOWELS_TASK:
return 'Towels'
case tasks.SPOONS_TASK:
Expand Down Expand Up @@ -340,9 +341,9 @@ def box_distance_progress(episode: Episode) -> float | None:


def ee_pose_movement(episode: Episode) -> float | None:
if 'robot_state.ee_pose' not in episode:
if keys.EE_POSE not in episode:
return None
signal_values = episode['robot_state.ee_pose'].values()
signal_values = episode[keys.EE_POSE].values()
result = 0.0
prev_translation = signal_values[0][:3]
for ee_pose in signal_values[1:]:
Expand Down Expand Up @@ -486,20 +487,20 @@ def group_fn(episodes: list[Episode]):

def calculate_units(episode: Episode) -> int:
"""Estimates the number of pick-and-place operations. Vibe-coded heuristic."""
if episode['task'] in FIXED_ITEM_COUNTS:
return FIXED_ITEM_COUNTS[episode['task']]
if episode[keys.TASK] in FIXED_ITEM_COUNTS:
return FIXED_ITEM_COUNTS[episode[keys.TASK]]

if 'target_grip' in episode.signals:
grip_sig = episode.signals['target_grip']
elif 'grip' in episode.signals:
grip_sig = episode.signals['grip']
elif keys.GRIP in episode.signals:
grip_sig = episode.signals[keys.GRIP]
else:
return 0

if 'robot_state.ee_pose' not in episode.signals:
if keys.EE_POSE not in episode.signals:
return 0

pose_sig = episode.signals['robot_state.ee_pose']
pose_sig = episode.signals[keys.EE_POSE]

# Sample signals at 10Hz to reduce noise and computation
times = np.arange(episode.start_ts, episode.last_ts, int(1e8))
Expand Down
18 changes: 9 additions & 9 deletions positronic/cfg/codecs.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

import configuronic as cfn

from positronic import geom
from positronic import geom, keys
from positronic.policy.observation import ObservationCodec

RotRep = geom.Rotation.Representation
Expand All @@ -19,27 +19,27 @@ def general_obs(


eepose_grip_obs = general_obs.override(
state_name='observation.state', state_features={'robot_state.ee_pose': 7, 'grip': 1}, image_size=(224, 224)
state_name='observation.state', state_features={keys.EE_POSE: 7, keys.GRIP: 1}, image_size=(224, 224)
)

joints_grip_obs = general_obs.override(
state_name='observation.state', state_features={'robot_state.q': 7, 'grip': 1}, image_size=(224, 224)
state_name='observation.state', state_features={keys.JOINTS: 7, keys.GRIP: 1}, image_size=(224, 224)
)

eepose_grip_joints_obs = general_obs.override(
state_name='observation.state',
state_features={'robot_state.ee_pose': 7, 'grip': 1, 'robot_state.q': 7},
state_features={keys.EE_POSE: 7, keys.GRIP: 1, keys.JOINTS: 7},
image_size=(224, 224),
)

eepose_obs = eepose_grip_obs.override(
image_mappings={'observation.images.left': 'image.wrist', 'observation.images.side': 'image.exterior'}
image_mappings={'observation.images.left': keys.WRIST_IMAGE, 'observation.images.side': keys.EXTERIOR_IMAGE}
)
joints_obs = joints_grip_obs.override(
image_mappings={'observation.images.left': 'image.wrist', 'observation.images.side': 'image.exterior'}
image_mappings={'observation.images.left': keys.WRIST_IMAGE, 'observation.images.side': keys.EXTERIOR_IMAGE}
)
eepose_joints_obs = eepose_grip_joints_obs.override(
image_mappings={'observation.images.left': 'image.wrist', 'observation.images.side': 'image.exterior'}
image_mappings={'observation.images.left': keys.WRIST_IMAGE, 'observation.images.side': keys.EXTERIOR_IMAGE}
)


Expand Down Expand Up @@ -96,14 +96,14 @@ def joint_delta_action(num_joints: int):
return JointDeltaAction(num_joints=num_joints)


traj_ee_action = absolute_pos_action.override(tgt_ee_pose_key='robot_state.ee_pose', tgt_grip_key='grip')
traj_ee_action = absolute_pos_action.override(tgt_ee_pose_key=keys.EE_POSE, tgt_grip_key=keys.GRIP)


@cfn.config(
solver='dls_limits',
tgt_ee_pose_key='robot_command.pose',
tgt_grip_key='target_grip',
current_q_key='robot_state.q',
current_q_key=keys.JOINTS,
num_joints=7,
)
def ik_joints_action(solver, tgt_ee_pose_key, tgt_grip_key, current_q_key, num_joints):
Expand Down
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