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fix processor step

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This commit is contained in:
Pepijn
2025-12-30 11:09:16 +01:00
parent 38b814f3d4
commit 5ba9fbd9ca
1 changed files with 4 additions and 4 deletions
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examples/rac/rac_data_collection_openarms.py
+4 -4
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@@ -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,
)