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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 .converters import (
observation_to_transition,
robot_action_observation_to_transition,
transition_to_observation,
transition_to_robot_action,
)
from .core import RobotAction, RobotObservation
from .pipeline import IdentityProcessorStep, RobotProcessorPipeline
def make_default_teleop_action_processor() -> RobotProcessorPipeline[
tuple[RobotAction, RobotObservation], RobotAction
]:
teleop_action_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
steps=[IdentityProcessorStep()],
to_transition=robot_action_observation_to_transition,
to_output=transition_to_robot_action,
)
return teleop_action_processor
def make_default_robot_action_processor() -> RobotProcessorPipeline[
tuple[RobotAction, RobotObservation], RobotAction
]:
robot_action_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
steps=[IdentityProcessorStep()],
to_transition=robot_action_observation_to_transition,
to_output=transition_to_robot_action,
)
return robot_action_processor
def make_default_robot_observation_processor() -> RobotProcessorPipeline[RobotObservation, RobotObservation]:
robot_observation_processor = RobotProcessorPipeline[RobotObservation, RobotObservation](
steps=[IdentityProcessorStep()],
to_transition=observation_to_transition,
to_output=transition_to_observation,
)
return robot_observation_processor
def make_default_processors():
teleop_action_processor = make_default_teleop_action_processor()
robot_action_processor = make_default_robot_action_processor()
robot_observation_processor = make_default_robot_observation_processor()
return (teleop_action_processor, robot_action_processor, robot_observation_processor)
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