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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 __future__ import annotations
from enum import Enum
from typing import Any, TypeAlias, TypedDict
import numpy as np
import torch
class TransitionKey(str, Enum):
"""Keys for accessing EnvTransition dictionary components."""
# TODO(Steven): Use consts
OBSERVATION = "observation"
ACTION = "action"
REWARD = "reward"
DONE = "done"
TRUNCATED = "truncated"
INFO = "info"
COMPLEMENTARY_DATA = "complementary_data"
PolicyAction: TypeAlias = torch.Tensor
RobotAction: TypeAlias = dict[str, Any]
EnvAction: TypeAlias = np.ndarray
RobotObservation: TypeAlias = dict[str, Any]
EnvTransition = TypedDict(
"EnvTransition",
{
TransitionKey.OBSERVATION.value: dict[str, Any] | None,
TransitionKey.ACTION.value: PolicyAction | RobotAction | EnvAction | None,
TransitionKey.REWARD.value: float | torch.Tensor | None,
TransitionKey.DONE.value: bool | torch.Tensor | None,
TransitionKey.TRUNCATED.value: bool | torch.Tensor | None,
TransitionKey.INFO.value: dict[str, Any] | None,
TransitionKey.COMPLEMENTARY_DATA.value: dict[str, Any] | None,
},
)
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