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

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* 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.
This commit is contained in:
Adil Zouitine
2025-09-03 19:01:28 +02:00
committed by GitHub
parent 6c7169c4af
commit a6dbb65917
23 changed files with 102 additions and 89 deletions
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examples/phone_to_so100/replay.py
+2 -2
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@@ -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(