From 2005a28a008aad79f8f8d46419d3e7cb3ae3a545 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Fri, 12 Sep 2025 12:17:46 +0200 Subject: [PATCH] add empty obs and act in create_initial_features --- examples/phone_to_so100/record.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/phone_to_so100/record.py b/examples/phone_to_so100/record.py index 4c9a8f1aa..7afac684c 100644 --- a/examples/phone_to_so100/record.py +++ b/examples/phone_to_so100/record.py @@ -123,21 +123,21 @@ robot_joints_to_ee_pose = RobotProcessorPipeline[dict[str, Any], EnvTransition]( # Build dataset ee action features action_ee = aggregate_pipeline_dataset_features( pipeline=phone_to_robot_ee_pose_processor, - initial_features=create_initial_features(action=phone.action_features), + initial_features=create_initial_features(action=phone.action_features, observation={}), use_videos=True, ) # Get gripper pos action features gripper = aggregate_pipeline_dataset_features( pipeline=robot_ee_to_joints_processor, - initial_features=create_initial_features(action=robot.action_features), + initial_features=create_initial_features(action=robot.action_features, observation={}), use_videos=True, ) # Build dataset ee observation features observation_ee = aggregate_pipeline_dataset_features( pipeline=robot_joints_to_ee_pose, - initial_features=create_initial_features(observation=robot.observation_features), + initial_features=create_initial_features(observation=robot.observation_features, action={}), use_videos=True, )