data/preprocess_scripts/aloha_handover_box.py

import tensorflow as tf

from data.utils import clean_task_instruction, euler_to_rotation_matrix, rotation_matrix_to_ortho6d


def process_step(step: dict) -> dict:
    """
    Unify the action format and clean the task instruction.

    DO NOT use python list, use tf.TensorArray instead.
    """
    # Convert raw action to our action
    action_dict = step['action']
    # Concatenate the action
    step['action'] = {}
    action = step['action']
    action['arm_concat'] = action_dict['ee_6d_pos']

    # Write the action format
    action['format'] = tf.constant(
        "left_eef_pos_x,left_eef_pos_y,left_eef_pos_z,left_eef_angle_0,left_eef_angle_1,left_eef_angle_2,left_eef_angle_3,left_eef_angle_4,left_eef_angle_5,left_gripper_open,right_eef_pos_x,right_eef_pos_y,right_eef_pos_z,right_eef_angle_0,right_eef_angle_1,right_eef_angle_2,right_eef_angle_3,right_eef_angle_4,right_eef_angle_5,right_gripper_open"
    )

    # Convert raw state to our state
    # Robot state
    state_dict = step['observation']['state']
    state = {}
    state['arm_concat'] = state_dict

    # Write the state format
    state['format'] = tf.constant(
        "left_eef_pos_x,left_eef_pos_y,left_eef_pos_z,left_eef_angle_0,left_eef_angle_1,left_eef_angle_2,left_eef_angle_3,left_eef_angle_4,left_eef_angle_5,left_gripper_open,right_eef_pos_x,right_eef_pos_y,right_eef_pos_z,right_eef_angle_0,right_eef_angle_1,right_eef_angle_2,right_eef_angle_3,right_eef_angle_4,right_eef_angle_5,right_gripper_open"
    )
    # Clean the task instruction
    # Define the replacements (old, new) as a dictionary
    replacements = {
        '_': ' ',
        '1f': ' ',
        '4f': ' ',
        '-': ' ',
        '50': ' ',
        '55': ' ',
        '56': ' ',
        
    }
    instr = step['language_instruction']
    # instr = clean_task_instruction(instr, replacements)
    step['observation'] = state
    step['observation']['natural_language_instruction'] = instr

    return step


if __name__ == "__main__":
    pass