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refactor(processor): unify action imports and enhance type clarity across multiple files

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- Updated imports in various files to include RobotAction and PolicyAction directly from the processor module, improving clarity and consistency.
- Removed redundant imports from core, streamlining the codebase and enhancing maintainability.
- Adjusted type annotations and references in the RobotProcessorPipeline and related components to align with the new import structure, ensuring better type safety and readability.
This commit is contained in:
AdilZouitine
2025-09-11 14:24:36 +02:00
parent 376a6457cf
commit aeb70812c1
22 changed files with 31 additions and 31 deletions
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examples/phone_to_so100/evaluate.py
+1 -2
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@@ -23,13 +23,12 @@ 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 RobotProcessorPipeline
from lerobot.processor import EnvTransition, RobotAction, RobotProcessorPipeline
from lerobot.processor.converters import (
identity_transition,
observation_to_transition,
transition_to_robot_action,
)
from lerobot.processor.core import EnvTransition, RobotAction
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
examples/phone_to_so100/record.py
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@@ -21,14 +21,13 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
from lerobot.datasets.utils import combine_feature_dicts
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor import EnvTransition, RobotAction, RobotProcessorPipeline
from lerobot.processor.converters import (
identity_transition,
observation_to_transition,
robot_action_to_transition,
transition_to_robot_action,
)
from lerobot.processor.core import EnvTransition, RobotAction
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
examples/phone_to_so100/replay.py
+1 -2
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@@ -19,9 +19,8 @@ import time
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor import RobotAction, 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,
examples/phone_to_so100/teleoperate.py
+1 -2
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@@ -16,9 +16,8 @@
import time
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor import RobotAction, 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,