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refactor(processors): several additions (#1926)

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* chore(processor): remove merge_transitions functions (#1925)

* refactor(processors): move processors out of configs (#1927)

* chore(processor): streamline combine_features_dict (#1928)

* chore(policies): use new constants (#1929)

* fix(deps): right version transformers (#1930)

* fix(tests): add none + disable async tests for now (#1931)
This commit is contained in:
Steven Palma
2025-09-13 23:53:20 +02:00
committed by GitHub
parent 839ac5f2aa
commit 50293bb17b
18 changed files with 154 additions and 400 deletions
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examples/phone_to_so100/record.py
+12 -19
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@@ -117,29 +117,22 @@ robot_joints_to_ee_pose = RobotProcessorPipeline[dict[str, Any], EnvTransition](
to_output=identity_transition,
)
# Build dataset ee action features
action_ee = aggregate_pipeline_dataset_features(
pipeline=phone_to_robot_ee_pose_processor,
initial_features=create_initial_features(action=phone.action_features, observation={}),
use_videos=True,
)
# Build dataset ee observation features
observation_ee = aggregate_pipeline_dataset_features(
pipeline=robot_joints_to_ee_pose,
initial_features=create_initial_features(observation=robot.observation_features, action={}),
use_videos=True,
)
dataset_features = combine_feature_dicts(action_ee, observation_ee)
print("All dataset features: ", dataset_features)
# Create the dataset
dataset = LeRobotDataset.create(
repo_id=HF_REPO_ID,
fps=FPS,
features=dataset_features,
features=combine_feature_dicts(
aggregate_pipeline_dataset_features(
pipeline=phone_to_robot_ee_pose_processor,
initial_features=create_initial_features(action=phone.action_features),
use_videos=True,
),
aggregate_pipeline_dataset_features(
pipeline=robot_joints_to_ee_pose,
initial_features=create_initial_features(observation=robot.observation_features),
use_videos=True,
),
),
robot_type=robot.name,
use_videos=True,
image_writer_threads=4,