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#!/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 .batch_processor import AddBatchDimensionProcessorStep
from .converters import (
batch_to_transition,
create_transition,
transition_to_batch,
)
from .core import (
EnvAction,
EnvTransition,
PolicyAction,
RobotAction,
RobotObservation,
TransitionKey,
)
from .delta_action_processor import MapDeltaActionToRobotActionStep, MapTensorToDeltaActionDictStep
from .device_processor import DeviceProcessorStep
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,
ImageCropResizeProcessorStep,
InterventionActionProcessorStep,
RewardClassifierProcessorStep,
TimeLimitProcessorStep,
)
from .joint_observations_processor import JointVelocityProcessorStep, MotorCurrentProcessorStep
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 .rename_processor import RenameObservationsProcessorStep
from .tokenizer_processor import TokenizerProcessorStep
__all__ = [
"ActionProcessorStep",
"AddTeleopActionAsComplimentaryDataStep",
"AddTeleopEventsAsInfoStep",
"ComplementaryDataProcessorStep",
"batch_to_transition",
"create_transition",
"DeviceProcessorStep",
"DoneProcessorStep",
"EnvAction",
"EnvTransition",
"GripperPenaltyProcessorStep",
"hotswap_stats",
"IdentityProcessorStep",
"ImageCropResizeProcessorStep",
"InfoProcessorStep",
"InterventionActionProcessorStep",
"JointVelocityProcessorStep",
"make_default_processors",
"make_default_teleop_action_processor",
"make_default_robot_action_processor",
"make_default_robot_observation_processor",
"MapDeltaActionToRobotActionStep",
"MapTensorToDeltaActionDictStep",
"MotorCurrentProcessorStep",
"NormalizerProcessorStep",
"Numpy2TorchActionProcessorStep",
"ObservationProcessorStep",
"PolicyAction",
"PolicyActionProcessorStep",
"PolicyProcessorPipeline",
"ProcessorKwargs",
"ProcessorStep",
"ProcessorStepRegistry",
"RobotAction",
"RobotActionProcessorStep",
"RobotObservation",
"RenameObservationsProcessorStep",
"RewardClassifierProcessorStep",
"RewardProcessorStep",
"DataProcessorPipeline",
"TimeLimitProcessorStep",
"AddBatchDimensionProcessorStep",
"RobotProcessorPipeline",
"TokenizerProcessorStep",
"Torch2NumpyActionProcessorStep",
"RobotActionToPolicyActionProcessorStep",
"PolicyActionToRobotActionProcessorStep",
"transition_to_batch",
"TransitionKey",
"TruncatedProcessorStep",
"UnnormalizerProcessorStep",
"VanillaObservationProcessorStep",
]
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