refactor(pipeline): feature contract now categorizes between OBS or Action (#1867)

* refactor(processor): signature of transform_features

* refactor(processor): remove prefixes + processor respect new transform_features signature + update test accordingly

* refactor(processor): rename now is only for visual

* refactor(processor): update normalize processor

* refactor(processor): update vanilla processor features

* refactor(processor): feature contract now uses its own enum

* chore(processor): rename renameprocessor

* chore(processor): minor changes

* refactor(processor): add create & change aggregate

* refactor(processor): update aggregate

* refactor(processor): simplify to functions, fix features contracts and rename function

* test(processor): remove to converter tests as now they are very simple

* chore(docs): recover docs joint observations processor

* fix(processor): update RKP

* fix(tests): recv diff test_pipeline

* chore(tests): add docs to test

* chore(processor): leave obs language constant untouched

* fix(processor): correct new shape of feature in crop image processor

src/lerobot/processor/device_processor.py

@@ -24,7 +24,7 @@ from typing import Any
 
 import torch
 
-from lerobot.configs.types import PolicyFeature
+from lerobot.configs.types import PipelineFeatureType, PolicyFeature
 from lerobot.utils.utils import get_safe_torch_device
 
 from .core import EnvTransition, TransitionKey
@@ -169,7 +169,9 @@ class DeviceProcessorStep(ProcessorStep):
         """
         return {"device": self.device, "float_dtype": self.float_dtype}
 
-    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+    def transform_features(
+        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
+    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
         """
         Returns the input features unchanged.