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chore(docs): update doctrines pipeline files (#1872)

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* docs(processor): update docstrings batch_processor

* docs(processor): update docstrings device_processor

* docs(processor): update docstrings tokenizer_processor

* update docstrings processor_act

* update docstrings for pipeline_features

* update docstrings for utils

* update docstring for processor_diffusion

* update docstrings factory

* add docstrings to pi0 processor

* add docstring to pi0fast processor

* add docstring classifier processor

* add docstring to sac processor

* add docstring smolvla processor

* add docstring to tdmpc processor

* add docstring to vqbet processor

* add docstrings to converters

* add docstrings for delta_action_processor

* add docstring to gym action processor

* update hil processor

* add docstring to joint obs processor

* add docstring to migrate_normalize_processor

* update docstrings normalize processor

* update docstring normalize processor

* update docstrings observation processor

* update docstrings rename_processor

* add docstrings robot_kinematic_processor

* cleanup rl comments

* add docstring to train.py

* add docstring to teleoperate.py

* add docstrings to phone_processor.py

* add docstrings to teleop_phone.py

* add docstrings to control_utils.py

* add docstrings to visualization_utils.py

---------

Co-authored-by: Pepijn <pepijn@huggingface.co>
This commit is contained in:
Steven Palma
2025-09-08 18:44:15 +02:00
committed by GitHub
parent d32006440c
commit af9ddcf9a2
33 changed files with 2325 additions and 519 deletions
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35
src/lerobot/teleoperators/phone/phone_processor.py
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@@ -26,28 +26,35 @@ from lerobot.teleoperators.phone.config_phone import PhoneOS
@dataclass
class MapPhoneActionToRobotAction(ActionProcessorStep):
"""
Map calibrated phone pose (actions) to the inputs for robot actions
Maps calibrated phone pose actions to standardized robot action inputs.
Expected input ACTION keys:
{
"action.phone.enabled": bool,
"action.phone.pos": np.ndarray,
"action.phone.rot": Rotation,
"action.phone.raw_inputs": dict,
}
This processor step acts as a bridge between the phone teleoperator's output
and the robot's expected action format. It remaps the phone's 6-DoF pose
(position and rotation) to the robot's target end-effector pose, applying
necessary axis inversions and swaps. It also interprets platform-specific
button presses to generate a gripper command.
Output ACTION keys:
{
"action.enabled": bool,
"action.ee.{x,y,z,wx,wy,wz}" : float
"action.gripper": float,
}
Attributes:
platform: The operating system of the phone (iOS or Android), used
to determine the correct button mappings for the gripper.
"""
platform: PhoneOS
_enabled_prev: bool = field(default=False, init=False, repr=False)
def action(self, act: dict) -> dict:
"""
Processes the phone action dictionary to create a robot action dictionary.
Args:
act: The input action dictionary from the phone teleoperator.
Returns:
A new action dictionary formatted for the robot controller.
Raises:
ValueError: If 'pos' or 'rot' keys are missing from the input action.
"""
# Pop them from the action
enabled = bool(act.pop(f"{ACTION}.phone.enabled", 0))
pos = act.pop(f"{ACTION}.phone.pos", None)