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0d80452 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 | #!/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
# RenderMessagesStep is intentionally NOT re-exported here: it pulls in
# `lerobot.datasets.language`, which requires the `[dataset]` extra
# (`datasets`, `pyarrow`). Importing it from the processor package would
# break every base-install consumer of `lerobot.processor`. Users that
# need it import directly:
# from lerobot.processor.render_messages_processor import RenderMessagesStep
__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",
]
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