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feat(envs): add envs pre-post processor (#2474)

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* more changes

* working changes

* more changes

* more fixes

* fix style

* more

* clean

* put axis-1

* more fixes

* more styling fixes:

* iterate on review:

* more changes

* add env processor

* style

* more changes

* add docs

* fix imports

* fix test, add to train

* Update src/lerobot/envs/factory.py

Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Signed-off-by: Jade Choghari <chogharijade@gmail.com>

* iterate on review

---------

Signed-off-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: jade.choghari@huggingface.co <“chogharijade@gmail.com”>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
This commit is contained in:
Jade Choghari
2025-11-19 18:36:14 +01:00
committed by GitHub
parent 8a915c6b6f
commit 6e86a69dcd
11 changed files with 881 additions and 38 deletions
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src/lerobot/utils/constants.py
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@@ -70,3 +70,15 @@ LOOKAHEAD_BACKTRACKTABLE = 100
# openpi
OPENPI_ATTENTION_MASK_VALUE = -2.3819763e38 # TODO(pepijn): Modify this when extending support to fp8 models
# Constants for LIBERO observation keys
LIBERO_KEY_EEF_POS = "robot_state/eef/pos"
LIBERO_KEY_EEF_QUAT = "robot_state/eef/quat"
LIBERO_KEY_EEF_MAT = "robot_state/eef/mat"
LIBERO_KEY_EEF_AXISANGLE = "robot_state/eef/axisangle"
LIBERO_KEY_GRIPPER_QPOS = "robot_state/gripper/qpos"
LIBERO_KEY_GRIPPER_QVEL = "robot_state/gripper/qvel"
LIBERO_KEY_JOINTS_POS = "robot_state/joints/pos"
LIBERO_KEY_JOINTS_VEL = "robot_state/joints/vel"
LIBERO_KEY_PIXELS_AGENTVIEW = "pixels/agentview_image"
LIBERO_KEY_PIXELS_EYE_IN_HAND = "pixels/robot0_eye_in_hand_image"