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add empty obs and act in create_initial_features

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Pepijn
2025-09-12 12:17:46 +02:00
parent 58b91dc886
commit 2005a28a00
1 changed files with 3 additions and 3 deletions
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examples/phone_to_so100/record.py
+3 -3
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@@ -123,21 +123,21 @@ robot_joints_to_ee_pose = RobotProcessorPipeline[dict[str, Any], EnvTransition](
# Build dataset ee action features # Build dataset ee action features
action_ee = aggregate_pipeline_dataset_features( action_ee = aggregate_pipeline_dataset_features(
pipeline=phone_to_robot_ee_pose_processor, 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, use_videos=True,
) )
# Get gripper pos action features # Get gripper pos action features
gripper = aggregate_pipeline_dataset_features( gripper = aggregate_pipeline_dataset_features(
pipeline=robot_ee_to_joints_processor, 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, use_videos=True,
) )
# Build dataset ee observation features # Build dataset ee observation features
observation_ee = aggregate_pipeline_dataset_features( observation_ee = aggregate_pipeline_dataset_features(
pipeline=robot_joints_to_ee_pose, 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, use_videos=True,
) )