mirror of
https://github.com/huggingface/lerobot.git
synced 2026-06-02 03:41:25 +00:00
fd4ae3466b
* chore(pipeline): remove unused features + device torch + envtransition keys * refactor(pipeline): ImageProcessor & StateProcessor are both implemented directly in VanillaObservationPRocessor * refactor(pipeline): RenameProcessor now inherits from ObservationProcessor + remove unused code * test(pipeline): fix broken test after refactors * docs(pipeline): update docstrings VanillaObservationProcessor * chore(pipeline): move None check to base pipeline classes
52 lines
1.8 KiB
Python
52 lines
1.8 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 dataclasses import dataclass, field
|
|
from typing import Any
|
|
|
|
from lerobot.configs.types import PolicyFeature
|
|
from lerobot.processor.pipeline import (
|
|
ObservationProcessor,
|
|
ProcessorStepRegistry,
|
|
)
|
|
|
|
|
|
@dataclass
|
|
@ProcessorStepRegistry.register(name="rename_processor")
|
|
class RenameProcessor(ObservationProcessor):
|
|
"""Rename processor that renames keys in the observation."""
|
|
|
|
rename_map: dict[str, str] = field(default_factory=dict)
|
|
|
|
def observation(self, observation):
|
|
processed_obs = {}
|
|
for key, value in observation.items():
|
|
if key in self.rename_map:
|
|
processed_obs[self.rename_map[key]] = value
|
|
else:
|
|
processed_obs[key] = value
|
|
|
|
return processed_obs
|
|
|
|
def get_config(self) -> dict[str, Any]:
|
|
return {"rename_map": self.rename_map}
|
|
|
|
def feature_contract(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
|
|
"""Transforms:
|
|
- Each key in the observation that appears in `rename_map` is renamed to its value.
|
|
- Keys not in `rename_map` remain unchanged.
|
|
"""
|
|
return {self.rename_map.get(k, k): v for k, v in features.items()}
|