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feat(processor): enhance type safety with generic DataProcessorPipeline for policy and robot pipelines (#1915)

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* refactor(processor): enhance type annotations for processors in record, replay, teleoperate, and control utils

- Updated type annotations for preprocessor and postprocessor parameters in record_loop and predict_action functions to specify the expected dictionary types.
- Adjusted robot_action_processor type in ReplayConfig and TeleoperateConfig to improve clarity and maintainability.
- Ensured consistency in type definitions across multiple files, enhancing overall code readability.

* refactor(processor): enhance type annotations for RobotProcessorPipeline in various files

- Updated type annotations for RobotProcessorPipeline instances in evaluate.py, record.py, replay.py, teleoperate.py, and other related files to specify input and output types more clearly.
- Introduced new type conversions for PolicyAction and EnvTransition to improve type safety and maintainability across the processing pipelines.
- Ensured consistency in type definitions, enhancing overall code readability and reducing potential runtime errors.

* refactor(processor): update transition handling in processors to use transition_to_batch

- Replaced direct transition handling with transition_to_batch in various processor tests and implementations to ensure consistent batching of input data.
- Updated assertions in tests to reflect changes in data structure, enhancing clarity and maintainability.
- Improved overall code readability by standardizing the way transitions are processed across different processor types.

* refactor(tests): standardize transition key usage in processor tests

- Updated assertions in processor test files to utilize the TransitionKey for action references, enhancing consistency across tests.
- Replaced direct string references with TransitionKey constants for improved readability and maintainability.
- Ensured that all relevant tests reflect these changes, contributing to a more uniform approach in handling transitions.
This commit is contained in:
Adil Zouitine
2025-09-11 13:36:04 +02:00
committed by GitHub
parent a2489ab0da
commit 376a6457cf
29 changed files with 671 additions and 786 deletions
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examples/phone_to_so100/replay.py
+2 -1
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@@ -21,6 +21,7 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor.converters import robot_action_to_transition, transition_to_robot_action
from lerobot.processor.core import RobotAction
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
AddRobotObservationAsComplimentaryData,
@@ -50,7 +51,7 @@ kinematics_solver = RobotKinematics(
)
# Build pipeline to convert ee pose action to joint action
robot_ee_to_joints_processor = RobotProcessorPipeline(
robot_ee_to_joints_processor = RobotProcessorPipeline[RobotAction, RobotAction](
steps=[
AddRobotObservationAsComplimentaryData(robot=robot),
InverseKinematicsEEToJoints(