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chore(processor): add Step suffix to all processors (#1854)

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* refactor(processor): rename MapDeltaActionToRobotAction and MapTensorToDeltaActionDict for consistency

* refactor(processor): rename DeviceProcessor to DeviceProcessorStep for consistency across modules

* refactor(processor): rename Torch2NumpyActionProcessor to Torch2NumpyActionProcessorStep for consistency

* refactor(processor): rename Numpy2TorchActionProcessor to Numpy2TorchActionProcessorStep for consistency

* refactor(processor): rename AddTeleopActionAsComplimentaryData to AddTeleopActionAsComplimentaryDataStep for consistency

* refactor(processor): rename ImageCropResizeProcessor and AddTeleopEventsAsInfo for consistency

* refactor(processor): rename TimeLimitProcessor to TimeLimitProcessorStep for consistency

* refactor(processor): rename GripperPenaltyProcessor to GripperPenaltyProcessorStep for consistency

* refactor(processor): rename InterventionActionProcessor to InterventionActionProcessorStep for consistency

* refactor(processor): rename RewardClassifierProcessor to RewardClassifierProcessorStep for consistency

* refactor(processor): rename JointVelocityProcessor to JointVelocityProcessorStep for consistency

* refactor(processor): rename MotorCurrentProcessor to MotorCurrentProcessorStep for consistency

* refactor(processor): rename NormalizerProcessor and UnnormalizerProcessor to NormalizerProcessorStep and UnnormalizerProcessorStep for consistency

* refactor(processor): rename VanillaObservationProcessor to VanillaObservationProcessorStep for consistency

* refactor(processor): rename RenameProcessor to RenameProcessorStep for consistency

* refactor(processor): rename TokenizerProcessor to TokenizerProcessorStep for consistency

* refactor(processor): rename ToBatchProcessor to AddBatchDimensionProcessorStep for consistency

* refactor(processor): update config file name in test for RenameProcessorStep consistency
This commit is contained in:
Adil Zouitine
2025-09-03 18:12:11 +02:00
committed by GitHub
parent 029c4a9a76
commit ce793cde64
37 changed files with 653 additions and 628 deletions
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14
src/lerobot/processor/hil_processor.py
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@@ -29,7 +29,7 @@ TELEOP_ACTION_KEY = "teleop_action"
@ProcessorStepRegistry.register("add_teleop_action_as_complementary_data")
@dataclass
class AddTeleopActionAsComplimentaryData(ComplementaryDataProcessorStep):
class AddTeleopActionAsComplimentaryDataStep(ComplementaryDataProcessorStep):
"""Add teleoperator action to transition complementary data."""
teleop_device: Teleoperator
@@ -45,7 +45,7 @@ class AddTeleopActionAsComplimentaryData(ComplementaryDataProcessorStep):
@ProcessorStepRegistry.register("add_teleop_action_as_info")
@dataclass
class AddTeleopEventsAsInfo(InfoProcessorStep):
class AddTeleopEventsAsInfoStep(InfoProcessorStep):
"""Add teleoperator control events to transition info."""
teleop_device: Teleoperator
@@ -62,7 +62,7 @@ class AddTeleopEventsAsInfo(InfoProcessorStep):
@ProcessorStepRegistry.register("image_crop_resize_processor")
@dataclass
class ImageCropResizeProcessor(ObservationProcessorStep):
class ImageCropResizeProcessorStep(ObservationProcessorStep):
"""Crop and resize image observations."""
crop_params_dict: dict[str, tuple[int, int, int, int]] | None = None
@@ -112,7 +112,7 @@ class ImageCropResizeProcessor(ObservationProcessorStep):
@dataclass
@ProcessorStepRegistry.register("time_limit_processor")
class TimeLimitProcessor(TruncatedProcessorStep):
class TimeLimitProcessorStep(TruncatedProcessorStep):
"""Track episode steps and enforce time limits."""
max_episode_steps: int
@@ -139,7 +139,7 @@ class TimeLimitProcessor(TruncatedProcessorStep):
@dataclass
@ProcessorStepRegistry.register("gripper_penalty_processor")
class GripperPenaltyProcessor(ComplementaryDataProcessorStep):
class GripperPenaltyProcessorStep(ComplementaryDataProcessorStep):
"""Apply penalty for inappropriate gripper usage."""
penalty: float = -0.01
@@ -188,7 +188,7 @@ class GripperPenaltyProcessor(ComplementaryDataProcessorStep):
@dataclass
@ProcessorStepRegistry.register("intervention_action_processor")
class InterventionActionProcessor(ProcessorStep):
class InterventionActionProcessorStep(ProcessorStep):
"""Handle human intervention actions and episode termination."""
use_gripper: bool = False
@@ -261,7 +261,7 @@ class InterventionActionProcessor(ProcessorStep):
@dataclass
@ProcessorStepRegistry.register("reward_classifier_processor")
class RewardClassifierProcessor(ProcessorStep):
class RewardClassifierProcessorStep(ProcessorStep):
"""Apply reward classification to image observations."""
pretrained_path: str | None = None