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Adil Zouitine
9183083e75
* refactor(processor): split action from policy, robots and environment - Updated function names to robot_action_to_transition and robot_transition_to_action across multiple files to better reflect their purpose in processing robot actions. - Adjusted references in the RobotProcessorPipeline and related components to ensure compatibility with the new naming convention. - Enhanced type annotations for action parameters to improve code readability and maintainability. * refactor(converters): rename robot_transition_to_action to transition_to_robot_action - Updated function names across multiple files to improve clarity and consistency in processing robot actions. - Adjusted references in RobotProcessorPipeline and related components to align with the new naming convention. - Simplified action handling in the AddBatchDimensionProcessorStep by removing unnecessary checks for action presence. * refactor(converters): update references to transition_to_robot_action - Renamed all instances of robot_transition_to_action to transition_to_robot_action across multiple files for consistency and clarity in the processing of robot actions. - Adjusted the RobotProcessorPipeline configurations to reflect the new naming convention, enhancing code readability. * refactor(processor): update Torch2NumpyActionProcessorStep to extend ActionProcessorStep - Changed the base class of Torch2NumpyActionProcessorStep from PolicyActionProcessorStep to ActionProcessorStep, aligning it with the current architecture of action processing. - This modification enhances the clarity of the class's role in the processing pipeline. * fix(processor): main action processor can take also EnvAction --------- Co-authored-by: Steven Palma <steven.palma@huggingface.co>