From 5ba9fbd9cac5992979e8aa4fb84fcf6eb079d74d Mon Sep 17 00:00:00 2001 From: Pepijn Date: Tue, 30 Dec 2025 11:09:16 +0100 Subject: [PATCH] fix processor step --- examples/rac/rac_data_collection_openarms.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/rac/rac_data_collection_openarms.py b/examples/rac/rac_data_collection_openarms.py index a9e548c79..aa915130d 100644 --- a/examples/rac/rac_data_collection_openarms.py +++ b/examples/rac/rac_data_collection_openarms.py @@ -61,7 +61,7 @@ from lerobot.policies.factory import make_policy, make_pre_post_processors from lerobot.policies.pretrained import PreTrainedPolicy from lerobot.policies.utils import make_robot_action from lerobot.processor import ( - IdentityProcessor, + IdentityProcessorStep, PolicyAction, PolicyProcessorPipeline, RobotAction, @@ -173,17 +173,17 @@ def init_rac_keyboard_listener(): def make_identity_processors(): """Create identity processors for RaC recording.""" teleop_proc = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction]( - steps=[IdentityProcessor()], + steps=[IdentityProcessorStep()], to_transition=robot_action_observation_to_transition, to_output=transition_to_robot_action, ) robot_proc = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction]( - steps=[IdentityProcessor()], + steps=[IdentityProcessorStep()], to_transition=robot_action_observation_to_transition, to_output=transition_to_robot_action, ) obs_proc = RobotProcessorPipeline[RobotObservation, RobotObservation]( - steps=[IdentityProcessor()], + steps=[IdentityProcessorStep()], to_transition=observation_to_transition, to_output=transition_to_observation, )