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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/teleoperate.py
+2 -2
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@@ -49,7 +49,7 @@ kinematics_solver = RobotKinematics(
)
# Build pipeline to convert phone action to ee pose action to joint action
phone_to_robot_joints = RobotProcessor(
phone_to_robot_joints_processor = RobotProcessor(
steps=[
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
AddRobotObservationAsComplimentaryData(robot=robot),
@@ -85,7 +85,7 @@ while True:
phone_obs = teleop_device.get_action()
# Phone -> EE pose -> Joints transition
joint_action = phone_to_robot_joints(phone_obs)
joint_action = phone_to_robot_joints_processor(phone_obs)
if joint_action:
robot.send_action(joint_action)