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chore(processor): rename specialized processor -> XYZProcessorStep (#1852)

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This commit is contained in:
Steven Palma
2025-09-03 17:30:47 +02:00
committed by GitHub
parent 8c796b39f5
commit d893bf1e30
20 changed files with 89 additions and 85 deletions
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18
src/lerobot/processor/hil_processor.py
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@@ -14,12 +14,12 @@ from lerobot.teleoperators.utils import TeleopEvents
from .core import EnvTransition, TransitionKey
from .pipeline import (
ComplementaryDataProcessor,
InfoProcessor,
ObservationProcessor,
ComplementaryDataProcessorStep,
InfoProcessorStep,
ObservationProcessorStep,
ProcessorStep,
ProcessorStepRegistry,
TruncatedProcessor,
TruncatedProcessorStep,
)
GRIPPER_KEY = "gripper"
@@ -29,7 +29,7 @@ TELEOP_ACTION_KEY = "teleop_action"
@ProcessorStepRegistry.register("add_teleop_action_as_complementary_data")
@dataclass
class AddTeleopActionAsComplimentaryData(ComplementaryDataProcessor):
class AddTeleopActionAsComplimentaryData(ComplementaryDataProcessorStep):
"""Add teleoperator action to transition complementary data."""
teleop_device: Teleoperator
@@ -45,7 +45,7 @@ class AddTeleopActionAsComplimentaryData(ComplementaryDataProcessor):
@ProcessorStepRegistry.register("add_teleop_action_as_info")
@dataclass
class AddTeleopEventsAsInfo(InfoProcessor):
class AddTeleopEventsAsInfo(InfoProcessorStep):
"""Add teleoperator control events to transition info."""
teleop_device: Teleoperator
@@ -62,7 +62,7 @@ class AddTeleopEventsAsInfo(InfoProcessor):
@ProcessorStepRegistry.register("image_crop_resize_processor")
@dataclass
class ImageCropResizeProcessor(ObservationProcessor):
class ImageCropResizeProcessor(ObservationProcessorStep):
"""Crop and resize image observations."""
crop_params_dict: dict[str, tuple[int, int, int, int]] | None = None
@@ -112,7 +112,7 @@ class ImageCropResizeProcessor(ObservationProcessor):
@dataclass
@ProcessorStepRegistry.register("time_limit_processor")
class TimeLimitProcessor(TruncatedProcessor):
class TimeLimitProcessor(TruncatedProcessorStep):
"""Track episode steps and enforce time limits."""
max_episode_steps: int
@@ -139,7 +139,7 @@ class TimeLimitProcessor(TruncatedProcessor):
@dataclass
@ProcessorStepRegistry.register("gripper_penalty_processor")
class GripperPenaltyProcessor(ComplementaryDataProcessor):
class GripperPenaltyProcessor(ComplementaryDataProcessorStep):
"""Apply penalty for inappropriate gripper usage."""
penalty: float = -0.01