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/migrate_policy_normalization.py

@@ -57,7 +57,7 @@ from .batch_processor import AddBatchDimensionProcessorStep
 from .device_processor import DeviceProcessorStep
 from .normalize_processor import NormalizerProcessorStep, UnnormalizerProcessorStep
 from .pipeline import PolicyProcessorPipeline
-from .rename_processor import RenameProcessorStep
+from .rename_processor import RenameObservationsProcessorStep
 
 # Policy type to class mapping
 POLICY_CLASSES = {
@@ -482,7 +482,7 @@ def main():
 
     # Create preprocessor with two normalizers (following the pattern from processor factories)
     preprocessor_steps = [
-        RenameProcessorStep(rename_map={}),
+        RenameObservationsProcessorStep(rename_map={}),
         NormalizerProcessorStep(
             features={**input_features, **output_features},
             norm_map=norm_map,