constants

constants

Data constants for the data package.

Note

Wire protocol constants (observation keys, action keys, gripper types) are imported from versatil_constants — the single source of truth shared across all projects in the ecosystem.

Cameras

Bases: Enum

Camera image keys used in the versatil pipeline and to wire server protocols, coming from versatil_constants library.

Note

Cf. https://github.com/nct-tso-robotics/versatil_constants for the single source of truth for camera keys across all projects in the ecosystem.

RawCameraKey

Bases: StrEnum

Raw dataset storage keys for camera observations.

Each member maps to the key used in a specific raw data format. Remapped to Cameras keys during zarr creation via RAW_TO_CAMERA_MAPPING.

CameraModality

Bases: StrEnum

Semantic camera modality derived from camera metadata.

ProprioKey

Bases: StrEnum

Proprioceptive observation keys for all supported environments.

Note

Cf. https://github.com/nct-tso-robotics/versatil_constants for the single source of truth for proprioceptive keys across all projects in the ecosystem.

SyntheticObsKey

Bases: StrEnum

Non-proprioceptive observation keys for synthetic benchmark tasks.

Defined locally in versatil (not in versatil_constants) because synthetic keys are never passed over the client-server wire at inference time.

ImageNormalizationType

Bases: StrEnum

Image normalization types.

KinematicsNormalizationType

Bases: StrEnum

Kinematics normalization types.

TokenPaddingStrategy

Bases: StrEnum

Padding strategy for language tokenization.

ProprioceptiveType

Bases: StrEnum

Proprioceptive data types.

TokenizerType

Bases: StrEnum

Tokenizer types in tokenization chains.

ActionDiscretizerType

Bases: StrEnum

Continuous-action discretization strategies.

BinningStrategy

Bases: StrEnum

Bin-edge placement strategies for value discretization.

ActionTokenIdMappingType

Bases: StrEnum

Mappings from action-local token IDs to model token IDs.

DatasetType

Bases: StrEnum

Dataset types, independent of storage format.

LeRobotPathsV30

Bases: StrEnum

LeRobot v3.0 dataset directory layout.

__str__

__str__()

Return the string value used in path formatting.

Source code in src/versatil/data/constants.py

def __str__(self) -> str:
    """Return the string value used in path formatting."""
    return self.value

SampleKey

Bases: StrEnum

Keys for sample dictionary structure in data pipeline.

MetadataPassthroughSource

Bases: StrEnum

Source dictionaries that can be copied into training metadata.