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chore(processor): rename converters function names (#1853)

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* chore(processor): rename to_transition_teleop_action -> action_to_transition

* chore(processor): rename to_transition_robot_observation -> observation_to_transition

* chore(processor): rename to_output_robot_action -> transition_to_robot_action
This commit is contained in:
Steven Palma
2025-09-03 18:08:54 +02:00
committed by GitHub
parent d893bf1e30
commit 029c4a9a76
9 changed files with 40 additions and 40 deletions
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examples/phone_to_so100/evaluate.py
+4 -4
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@@ -23,8 +23,8 @@ from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.policies.factory import make_pre_post_processors
from lerobot.processor import DataProcessorPipeline
from lerobot.processor.converters import (
to_output_robot_action,
to_transition_robot_observation,
observation_to_transition,
transition_to_robot_action,
)
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
@@ -75,7 +75,7 @@ robot_ee_to_joints_processor = DataProcessorPipeline(
),
],
to_transition=lambda tr: tr,
to_output=to_output_robot_action,
to_output=transition_to_robot_action,
)
# Build pipeline to convert joint observation to ee pose observation
@@ -83,7 +83,7 @@ robot_joints_to_ee_pose_processor = DataProcessorPipeline(
steps=[
ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
],
to_transition=to_transition_robot_observation,
to_transition=observation_to_transition,
to_output=lambda tr: tr,
)
examples/phone_to_so100/record.py
+6 -6
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@@ -22,9 +22,9 @@ from lerobot.datasets.utils import merge_features
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import DataProcessorPipeline
from lerobot.processor.converters import (
to_output_robot_action,
to_transition_robot_observation,
to_transition_teleop_action,
action_to_transition,
observation_to_transition,
transition_to_robot_action,
)
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
@@ -88,7 +88,7 @@ phone_to_robot_ee_pose_processor = DataProcessorPipeline(
max_ee_twist_step_rad=0.50,
),
],
to_transition=to_transition_teleop_action,
to_transition=action_to_transition,
to_output=lambda tr: tr,
)
@@ -106,7 +106,7 @@ robot_ee_to_joints_processor = DataProcessorPipeline(
),
],
to_transition=lambda tr: tr,
to_output=to_output_robot_action,
to_output=transition_to_robot_action,
)
# Build pipeline to convert joint observation to ee pose observation
@@ -114,7 +114,7 @@ robot_joints_to_ee_pose = DataProcessorPipeline(
steps=[
ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
],
to_transition=to_transition_robot_observation,
to_transition=observation_to_transition,
to_output=lambda tr: tr,
)
examples/phone_to_so100/replay.py
+3 -3
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@@ -20,7 +20,7 @@ import time
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import DataProcessorPipeline
from lerobot.processor.converters import to_output_robot_action, to_transition_teleop_action
from lerobot.processor.converters import action_to_transition, transition_to_robot_action
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
AddRobotObservationAsComplimentaryData,
@@ -59,8 +59,8 @@ robot_ee_to_joints_processor = DataProcessorPipeline(
initial_guess_current_joints=False, # Because replay is open loop
),
],
to_transition=to_transition_teleop_action,
to_output=to_output_robot_action,
to_transition=action_to_transition,
to_output=transition_to_robot_action,
)
robot_ee_to_joints_processor.reset()
examples/phone_to_so100/teleoperate.py
+3 -3
View File
@@ -17,7 +17,7 @@ import time
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import DataProcessorPipeline
from lerobot.processor.converters import to_output_robot_action, to_transition_teleop_action
from lerobot.processor.converters import action_to_transition, transition_to_robot_action
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
AddRobotObservationAsComplimentaryData,
@@ -72,8 +72,8 @@ phone_to_robot_joints_processor = DataProcessorPipeline(
speed_factor=20.0,
),
],
to_transition=to_transition_teleop_action,
to_output=to_output_robot_action,
to_transition=action_to_transition,
to_output=transition_to_robot_action,
)
robot.connect()