From 43827426815df8de41738d3f4e7b8a3e78fa3cd3 Mon Sep 17 00:00:00 2001
From: Pepijn <138571049+pkooij@users.noreply.github.com>
Date: Mon, 15 Sep 2025 14:39:05 +0200
Subject: [PATCH] fix teleop, record and eval (#1940)

---
 examples/phone_to_so100/evaluate.py                  | 12 ++++++++++--
 examples/phone_to_so100/teleoperate.py               |  7 +++----
 .../so100_follower/robot_kinematic_processor.py      |  2 +-
 3 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/examples/phone_to_so100/evaluate.py b/examples/phone_to_so100/evaluate.py
index 0d22295d0..a9a872f52 100644
--- a/examples/phone_to_so100/evaluate.py
+++ b/examples/phone_to_so100/evaluate.py
@@ -17,6 +17,7 @@
 from typing import Any
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.datasets.utils import combine_feature_dicts
@@ -106,9 +107,16 @@ dataset = LeRobotDataset.create(
             initial_features=create_initial_features(observation=robot.observation_features),
             use_videos=True,
         ),
+        # User for now should be explicit on the feature keys that were used for record
+        # Alternatively, the user can pass the processor step that has the right features
         aggregate_pipeline_dataset_features(
-            pipeline=robot_ee_to_joints_processor,
-            initial_features=create_initial_features(action=robot.action_features),
+            pipeline=make_default_teleop_action_processor(),
+            initial_features=create_initial_features(
+                action={
+                    f"ee.{k}": PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+                    for k in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]
+                }
+            ),
             use_videos=True,
         ),
     ),
diff --git a/examples/phone_to_so100/teleoperate.py b/examples/phone_to_so100/teleoperate.py
index b0ba95dee..f9aceeaa3 100644
--- a/examples/phone_to_so100/teleoperate.py
+++ b/examples/phone_to_so100/teleoperate.py
@@ -63,14 +63,13 @@ phone_to_robot_joints_processor = RobotProcessorPipeline[RobotAction, RobotActio
             max_ee_step_m=0.10,
             max_ee_twist_step_rad=0.50,
         ),
+        GripperVelocityToJoint(
+            speed_factor=20.0,
+        ),
         InverseKinematicsEEToJoints(
             kinematics=kinematics_solver,
             motor_names=list(robot.bus.motors.keys()),
         ),
-        GripperVelocityToJoint(
-            motor_names=list(robot.bus.motors.keys()),
-            speed_factor=20.0,
-        ),
     ],
     to_transition=robot_action_to_transition,
     to_output=transition_to_robot_action,
diff --git a/src/lerobot/robots/so100_follower/robot_kinematic_processor.py b/src/lerobot/robots/so100_follower/robot_kinematic_processor.py
index bb81c72e2..523881151 100644
--- a/src/lerobot/robots/so100_follower/robot_kinematic_processor.py
+++ b/src/lerobot/robots/so100_follower/robot_kinematic_processor.py
@@ -272,7 +272,7 @@ class InverseKinematicsEEToJoints(ProcessorStep):
 
     def __call__(self, transition: EnvTransition) -> EnvTransition:
         new_transition = transition.copy()
-        act = new_transition.get(TransitionKey.ACTION) or {}
+        act = new_transition.get(TransitionKey.ACTION).copy()
 
         if not isinstance(act, dict):
             raise ValueError(f"Action should be a RobotAction type got {type(act)}")