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refactor(processors): add extended api for specialized pipelines (#1848)

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This commit is contained in:
Steven Palma
2025-09-03 12:28:40 +02:00
committed by GitHub
parent b052843f08
commit 2fcc358e98
5 changed files with 62 additions and 23 deletions
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examples/phone_to_so100/replay.py
+3 -3
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@@ -50,7 +50,7 @@ kinematics_solver = RobotKinematics(
)
# Build pipeline to convert ee pose action to joint action
robot_ee_to_joints = RobotProcessor(
robot_ee_to_joints_processor = RobotProcessor(
steps=[
AddRobotObservationAsComplimentaryData(robot=robot),
InverseKinematicsEEToJoints(
@@ -63,7 +63,7 @@ robot_ee_to_joints = RobotProcessor(
to_output=to_output_robot_action,
)
robot_ee_to_joints.reset()
robot_ee_to_joints_processor.reset()
log_say(f"Replaying episode {EPISODE_IDX}")
for idx in range(dataset.num_frames):
@@ -73,7 +73,7 @@ for idx in range(dataset.num_frames):
name: float(actions[idx]["action"][i]) for i, name in enumerate(dataset.features["action"]["names"])
}
joint_action = robot_ee_to_joints(ee_action)
joint_action = robot_ee_to_joints_processor(ee_action)
action_sent = robot.send_action(joint_action)
busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))