refactor(pipeline): feature contract now categorizes between OBS or Action (#1867)

* refactor(processor): signature of transform_features

* refactor(processor): remove prefixes + processor respect new transform_features signature + update test accordingly

* refactor(processor): rename now is only for visual

* refactor(processor): update normalize processor

* refactor(processor): update vanilla processor features

* refactor(processor): feature contract now uses its own enum

* chore(processor): rename renameprocessor

* chore(processor): minor changes

* refactor(processor): add create & change aggregate

* refactor(processor): update aggregate

* refactor(processor): simplify to functions, fix features contracts and rename function

* test(processor): remove to converter tests as now they are very simple

* chore(docs): recover docs joint observations processor

* fix(processor): update RKP

* fix(tests): recv diff test_pipeline

* chore(tests): add docs to test

* chore(processor): leave obs language constant untouched

* fix(processor): correct new shape of feature in crop image processor

tests/processor/test_device_processor.py

@@ -18,7 +18,7 @@ import tempfile
 import pytest
 import torch
 
-from lerobot.configs.types import FeatureType, PolicyFeature
+from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
 from lerobot.processor import DataProcessorPipeline, DeviceProcessorStep, TransitionKey
 
 
@@ -292,8 +292,10 @@ def test_features():
     processor = DeviceProcessorStep(device="cpu")
 
     features = {
-        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(10,)),
-        "action": PolicyFeature(type=FeatureType.ACTION, shape=(5,)),
+        PipelineFeatureType.OBSERVATION: {
+            "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(10,))
+        },
+        PipelineFeatureType.ACTION: {"action": PolicyFeature(type=FeatureType.ACTION, shape=(5,))},
     }
 
     result = processor.transform_features(features)