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refactor(processors): use specialized processors where possible

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Steven Palma
2026-08-04 18:19:57 +02:00
parent f66e5128ec
commit fc573d46da
32 changed files with 681 additions and 500 deletions
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docs/source/hilserl.mdx
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@@ -145,7 +145,7 @@ The environment processor (`env_processor`) handles incoming observations and en
1. **VanillaObservationProcessorStep**: Converts raw robot observations into standardized format
2. **JointVelocityProcessorStep** (optional): Adds joint velocity information to observations
3. **MotorCurrentProcessorStep** (optional): Adds motor current readings to observations
4. **ForwardKinematicsJointsToEE** (optional): Computes end-effector pose from joint positions
4. **ForwardKinematicsJointsToEEObservation** (optional): Computes end-effector pose from joint positions
5. **ImageCropResizeProcessorStep** (optional): Crops and resizes camera images
6. **TimeLimitProcessorStep** (optional): Enforces episode time limits
7. **GripperPenaltyProcessorStep** (optional): Applies penalties for inappropriate gripper usage
@@ -413,7 +413,7 @@ We support using a gamepad or a keyboard or the leader arm of the robot.
HIL-Serl learns actions in the end-effector space of the robot. Therefore, the teleoperation will control the end-effector's x,y,z displacements.
The end-effector transformation is applied by the processor pipeline (`InverseKinematicsRLStep`, `EEBoundsAndSafety`, `EEReferenceAndDelta`, `GripperVelocityToJoint`) configured under `env.processor.inverse_kinematics` (`InverseKinematicsConfig`) and `env.processor.gripper` / `env.processor.max_gripper_pos`. The defaults related to the end-effector space are:
The end-effector transformation is applied by the processor pipeline (`EEReferenceAndDelta`, `EEBoundsAndSafety`, `GripperVelocityToJoint`, `InverseKinematicsEEToJoints`, `AddIKSolutionStep`) configured under `env.processor.inverse_kinematics` (`InverseKinematicsConfig`) and `env.processor.gripper` / `env.processor.max_gripper_pos`. The defaults related to the end-effector space are:
<!-- prettier-ignore-start -->
```python