chore(processor): add type alias RobotProcessorPipeline and PolicyProcessorPipeline (#1859)

* feat(processor): introduce PolicyProcessorPipeline and RobotProcessorPipeline as type aliases for DataProcessorPipeline

- Added PolicyProcessorPipeline and RobotProcessorPipeline type aliases to enhance clarity and maintainability in the processor module.
- Updated the __all__ list to include the new pipelines for better module export consistency.

* refactor(processor): replace DataProcessorPipeline with PolicyProcessorPipeline across multiple modules

- Updated all instances of DataProcessorPipeline to PolicyProcessorPipeline in various processor files for consistency and clarity.
- Adjusted function signatures to reflect the new pipeline type, enhancing maintainability and readability.

* refactor(processor): update hotswap_stats function to use PolicyProcessorPipeline

- Changed the parameter name from robot_processor to policy_processor for clarity.
- Ensured consistency with recent updates to the processor module by reflecting the new pipeline type in the function signature.

* refactor(processor): replace DataProcessorPipeline with PolicyProcessorPipeline in migrate_policy_normalization.py

- Updated the preprocessor and postprocessor to use PolicyProcessorPipeline for consistency with recent changes in the processor module.
- Enhanced clarity and maintainability by aligning with the new pipeline structure.

* refactor(processor): update hotswap_stats to use PolicyProcessorPipeline

- Changed the parameter type in hotswap_stats from DataProcessorPipeline to PolicyProcessorPipeline for consistency with recent updates.
- Enhanced clarity by updating the function documentation to reflect the new pipeline type.

* refactor(processor): replace DataProcessorPipeline with RobotProcessorPipeline across multiple files

- Updated instances of DataProcessorPipeline to RobotProcessorPipeline in evaluate.py, record.py, replay.py, teleoperate.py, and other relevant files for consistency and clarity.
- Adjusted function signatures and variable types to reflect the new pipeline structure, enhancing maintainability and readability.

examples/phone_to_so100/evaluate.py

@@ -21,7 +21,7 @@ from lerobot.datasets.utils import combine_feature_dicts
 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 DataProcessorPipeline
+from lerobot.processor import RobotProcessorPipeline
 from lerobot.processor.converters import (
     observation_to_transition,
     transition_to_robot_action,
@@ -65,7 +65,7 @@ kinematics_solver = RobotKinematics(
 )
 
 # Build pipeline to convert ee pose action to joint action
-robot_ee_to_joints_processor = DataProcessorPipeline(
+robot_ee_to_joints_processor = RobotProcessorPipeline(
     steps=[
         AddRobotObservationAsComplimentaryData(robot=robot),
         InverseKinematicsEEToJoints(
@@ -79,7 +79,7 @@ robot_ee_to_joints_processor = DataProcessorPipeline(
 )
 
 # Build pipeline to convert joint observation to ee pose observation
-robot_joints_to_ee_pose_processor = DataProcessorPipeline(
+robot_joints_to_ee_pose_processor = RobotProcessorPipeline(
     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 combine_feature_dicts
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import DataProcessorPipeline
+from lerobot.processor import RobotProcessorPipeline
 from lerobot.processor.converters import (
     action_to_transition,
     observation_to_transition,
@@ -73,7 +73,7 @@ kinematics_solver = RobotKinematics(
 )
 
 # Build pipeline to convert phone action to ee pose action
-phone_to_robot_ee_pose_processor = DataProcessorPipeline(
+phone_to_robot_ee_pose_processor = RobotProcessorPipeline(
     steps=[
         MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
         AddRobotObservationAsComplimentaryData(robot=robot),
@@ -93,7 +93,7 @@ phone_to_robot_ee_pose_processor = DataProcessorPipeline(
 )
 
 # Build pipeline to convert ee pose action to joint action
-robot_ee_to_joints_processor = DataProcessorPipeline(
+robot_ee_to_joints_processor = RobotProcessorPipeline(
     steps=[
         InverseKinematicsEEToJoints(
             kinematics=kinematics_solver,
@@ -110,7 +110,7 @@ robot_ee_to_joints_processor = DataProcessorPipeline(
 )
 
 # Build pipeline to convert joint observation to ee pose observation
-robot_joints_to_ee_pose = DataProcessorPipeline(
+robot_joints_to_ee_pose = RobotProcessorPipeline(
     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 DataProcessorPipeline
+from lerobot.processor import RobotProcessorPipeline
 from lerobot.processor.converters import action_to_transition, transition_to_robot_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 = DataProcessorPipeline(
+robot_ee_to_joints_processor = RobotProcessorPipeline(
     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 DataProcessorPipeline
+from lerobot.processor import RobotProcessorPipeline
 from lerobot.processor.converters import action_to_transition, transition_to_robot_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 = DataProcessorPipeline(
+phone_to_robot_joints_processor = RobotProcessorPipeline(
     steps=[
         MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
         AddRobotObservationAsComplimentaryData(robot=robot),