chore(processor): rename RobotProcessor -> DataProcessorPipeline (#1850)

examples/phone_to_so100/evaluate.py

@@ -21,7 +21,7 @@ from lerobot.datasets.utils import merge_features
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
-from lerobot.processor import RobotProcessor
+from lerobot.processor import DataProcessorPipeline
 from lerobot.processor.converters import (
     to_output_robot_action,
     to_transition_robot_observation,
@@ -65,7 +65,7 @@ kinematics_solver = RobotKinematics(
 )
 
 # Build pipeline to convert ee pose action to joint action
-robot_ee_to_joints_processor = RobotProcessor(
+robot_ee_to_joints_processor = DataProcessorPipeline(
     steps=[
         AddRobotObservationAsComplimentaryData(robot=robot),
         InverseKinematicsEEToJoints(
@@ -79,7 +79,7 @@ robot_ee_to_joints_processor = RobotProcessor(
 )
 
 # Build pipeline to convert joint observation to ee pose observation
-robot_joints_to_ee_pose_processor = RobotProcessor(
+robot_joints_to_ee_pose_processor = DataProcessorPipeline(
     steps=[
         ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
     ],

examples/phone_to_so100/record.py

@@ -20,7 +20,7 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features
 from lerobot.datasets.utils import merge_features
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessor
+from lerobot.processor import DataProcessorPipeline
 from lerobot.processor.converters import (
     to_output_robot_action,
     to_transition_robot_observation,
@@ -73,7 +73,7 @@ kinematics_solver = RobotKinematics(
 )
 
 # Build pipeline to convert phone action to ee pose action
-phone_to_robot_ee_pose_processor = RobotProcessor(
+phone_to_robot_ee_pose_processor = DataProcessorPipeline(
     steps=[
         MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
         AddRobotObservationAsComplimentaryData(robot=robot),
@@ -93,7 +93,7 @@ phone_to_robot_ee_pose_processor = RobotProcessor(
 )
 
 # Build pipeline to convert ee pose action to joint action
-robot_ee_to_joints_processor = RobotProcessor(
+robot_ee_to_joints_processor = DataProcessorPipeline(
     steps=[
         InverseKinematicsEEToJoints(
             kinematics=kinematics_solver,
@@ -110,7 +110,7 @@ robot_ee_to_joints_processor = RobotProcessor(
 )
 
 # Build pipeline to convert joint observation to ee pose observation
-robot_joints_to_ee_pose = RobotProcessor(
+robot_joints_to_ee_pose = DataProcessorPipeline(
     steps=[
         ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
     ],

examples/phone_to_so100/replay.py

@@ -19,7 +19,7 @@ import time
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessor
+from lerobot.processor import DataProcessorPipeline
 from lerobot.processor.converters import to_output_robot_action, to_transition_teleop_action
 from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
 from lerobot.robots.so100_follower.robot_kinematic_processor import (
@@ -50,7 +50,7 @@ kinematics_solver = RobotKinematics(
 )
 
 # Build pipeline to convert ee pose action to joint action
-robot_ee_to_joints_processor = RobotProcessor(
+robot_ee_to_joints_processor = DataProcessorPipeline(
     steps=[
         AddRobotObservationAsComplimentaryData(robot=robot),
         InverseKinematicsEEToJoints(

examples/phone_to_so100/teleoperate.py

@@ -16,7 +16,7 @@
 import time
 
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessor
+from lerobot.processor import DataProcessorPipeline
 from lerobot.processor.converters import to_output_robot_action, to_transition_teleop_action
 from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
 from lerobot.robots.so100_follower.robot_kinematic_processor import (
@@ -49,7 +49,7 @@ kinematics_solver = RobotKinematics(
 )
 
 # Build pipeline to convert phone action to ee pose action to joint action
-phone_to_robot_joints_processor = RobotProcessor(
+phone_to_robot_joints_processor = DataProcessorPipeline(
     steps=[
         MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
         AddRobotObservationAsComplimentaryData(robot=robot),