mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-31 02:41:24 +00:00
169 lines
5.3 KiB
Python
169 lines
5.3 KiB
Python
#!/usr/bin/env python
|
|
|
|
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
from lerobot.types import (
|
|
EnvAction,
|
|
EnvTransition,
|
|
PolicyAction,
|
|
RobotAction,
|
|
RobotObservation,
|
|
TransitionKey,
|
|
)
|
|
|
|
from .batch_processor import AddBatchDimensionProcessorStep
|
|
from .converters import (
|
|
batch_to_transition,
|
|
create_transition,
|
|
from_tensor_to_numpy,
|
|
identity_transition,
|
|
observation_to_transition,
|
|
policy_action_to_transition,
|
|
robot_action_observation_to_transition,
|
|
robot_action_to_transition,
|
|
transition_to_batch,
|
|
transition_to_observation,
|
|
transition_to_policy_action,
|
|
transition_to_robot_action,
|
|
)
|
|
from .delta_action_processor import MapDeltaActionToRobotActionStep, MapTensorToDeltaActionDictStep
|
|
from .device_processor import DeviceProcessorStep
|
|
from .env_processor import IsaaclabArenaProcessorStep, LiberoProcessorStep
|
|
from .factory import (
|
|
make_default_processors,
|
|
make_default_robot_action_processor,
|
|
make_default_robot_observation_processor,
|
|
make_default_teleop_action_processor,
|
|
)
|
|
from .gym_action_processor import (
|
|
Numpy2TorchActionProcessorStep,
|
|
Torch2NumpyActionProcessorStep,
|
|
)
|
|
from .hil_processor import (
|
|
AddTeleopActionAsComplimentaryDataStep,
|
|
AddTeleopEventsAsInfoStep,
|
|
GripperPenaltyProcessorStep,
|
|
GymHILAdapterProcessorStep,
|
|
ImageCropResizeProcessorStep,
|
|
InterventionActionProcessorStep,
|
|
RewardClassifierProcessorStep,
|
|
TimeLimitProcessorStep,
|
|
)
|
|
from .newline_task_processor import NewLineTaskProcessorStep
|
|
from .normalize_processor import NormalizerProcessorStep, UnnormalizerProcessorStep, hotswap_stats
|
|
from .observation_processor import VanillaObservationProcessorStep
|
|
from .pipeline import (
|
|
ActionProcessorStep,
|
|
ComplementaryDataProcessorStep,
|
|
DataProcessorPipeline,
|
|
DoneProcessorStep,
|
|
IdentityProcessorStep,
|
|
InfoProcessorStep,
|
|
ObservationProcessorStep,
|
|
PolicyActionProcessorStep,
|
|
PolicyProcessorPipeline,
|
|
ProcessorKwargs,
|
|
ProcessorStep,
|
|
ProcessorStepRegistry,
|
|
RewardProcessorStep,
|
|
RobotActionProcessorStep,
|
|
RobotProcessorPipeline,
|
|
TruncatedProcessorStep,
|
|
)
|
|
from .policy_robot_bridge import (
|
|
PolicyActionToRobotActionProcessorStep,
|
|
RobotActionToPolicyActionProcessorStep,
|
|
)
|
|
from .relative_action_processor import (
|
|
AbsoluteActionsProcessorStep,
|
|
RelativeActionsProcessorStep,
|
|
to_absolute_actions,
|
|
to_relative_actions,
|
|
)
|
|
from .rename_processor import RenameObservationsProcessorStep, rename_stats
|
|
from .tokenizer_processor import ActionTokenizerProcessorStep, TokenizerProcessorStep
|
|
|
|
__all__ = [
|
|
"ActionProcessorStep",
|
|
"AddTeleopActionAsComplimentaryDataStep",
|
|
"AddTeleopEventsAsInfoStep",
|
|
"ComplementaryDataProcessorStep",
|
|
"batch_to_transition",
|
|
"create_transition",
|
|
"from_tensor_to_numpy",
|
|
"identity_transition",
|
|
"observation_to_transition",
|
|
"policy_action_to_transition",
|
|
"robot_action_observation_to_transition",
|
|
"robot_action_to_transition",
|
|
"transition_to_observation",
|
|
"transition_to_policy_action",
|
|
"transition_to_robot_action",
|
|
"DeviceProcessorStep",
|
|
"DoneProcessorStep",
|
|
"EnvAction",
|
|
"EnvTransition",
|
|
"GymHILAdapterProcessorStep",
|
|
"GripperPenaltyProcessorStep",
|
|
"hotswap_stats",
|
|
"IdentityProcessorStep",
|
|
"ImageCropResizeProcessorStep",
|
|
"InfoProcessorStep",
|
|
"InterventionActionProcessorStep",
|
|
"make_default_processors",
|
|
"make_default_teleop_action_processor",
|
|
"make_default_robot_action_processor",
|
|
"make_default_robot_observation_processor",
|
|
"AbsoluteActionsProcessorStep",
|
|
"RelativeActionsProcessorStep",
|
|
"MapDeltaActionToRobotActionStep",
|
|
"MapTensorToDeltaActionDictStep",
|
|
"NewLineTaskProcessorStep",
|
|
"NormalizerProcessorStep",
|
|
"Numpy2TorchActionProcessorStep",
|
|
"ObservationProcessorStep",
|
|
"PolicyAction",
|
|
"PolicyActionProcessorStep",
|
|
"PolicyProcessorPipeline",
|
|
"ProcessorKwargs",
|
|
"ProcessorStep",
|
|
"ProcessorStepRegistry",
|
|
"RobotAction",
|
|
"RobotActionProcessorStep",
|
|
"RobotObservation",
|
|
"rename_stats",
|
|
"RenameObservationsProcessorStep",
|
|
"RewardClassifierProcessorStep",
|
|
"RewardProcessorStep",
|
|
"DataProcessorPipeline",
|
|
"IsaaclabArenaProcessorStep",
|
|
"LiberoProcessorStep",
|
|
"TimeLimitProcessorStep",
|
|
"AddBatchDimensionProcessorStep",
|
|
"RobotProcessorPipeline",
|
|
"TokenizerProcessorStep",
|
|
"ActionTokenizerProcessorStep",
|
|
"Torch2NumpyActionProcessorStep",
|
|
"RobotActionToPolicyActionProcessorStep",
|
|
"PolicyActionToRobotActionProcessorStep",
|
|
"transition_to_batch",
|
|
"TransitionKey",
|
|
"TruncatedProcessorStep",
|
|
"to_absolute_actions",
|
|
"to_relative_actions",
|
|
"UnnormalizerProcessorStep",
|
|
"VanillaObservationProcessorStep",
|
|
]
|