admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-17 01:30:14 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix(processor): enforce signatures

Browse Source
This commit is contained in:
Steven Palma
2025-09-16 17:13:07 +02:00
parent fa8be1c4fe
commit 43eb0e375f
4 changed files with 32 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/so100_to_so100_EE/record.py
+2 -3
View File
@@ -14,14 +14,13 @@
# See the License for the specific language governing permissions and
# limitations under the License.
from typing import Any
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
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
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotAction, RobotProcessorPipeline
from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
from lerobot.processor.converters import (
observation_to_transition,
robot_action_to_transition,
@@ -76,7 +75,7 @@ leader_kinematics_solver = RobotKinematics(
)
# Build pipeline to convert follower joints to EE observation
follower_joints_to_ee = RobotProcessorPipeline[dict[str, Any], dict[str, Any]](
follower_joints_to_ee = RobotProcessorPipeline[RobotObservation, RobotObservation](
steps=[
ForwardKinematicsJointsToEE(
kinematics=follower_kinematics_solver, motor_names=list(follower.bus.motors.keys())