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fix processor step

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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.pretrained import PreTrainedPolicy
from lerobot.policies.utils import make_robot_action from lerobot.policies.utils import make_robot_action
from lerobot.processor import ( from lerobot.processor import (
IdentityProcessor, IdentityProcessorStep,
PolicyAction, PolicyAction,
PolicyProcessorPipeline, PolicyProcessorPipeline,
RobotAction, RobotAction,
@@ -173,17 +173,17 @@ def init_rac_keyboard_listener():
def make_identity_processors(): def make_identity_processors():
"""Create identity processors for RaC recording.""" """Create identity processors for RaC recording."""
teleop_proc = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction]( teleop_proc = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
steps=[IdentityProcessor()], steps=[IdentityProcessorStep()],
to_transition=robot_action_observation_to_transition, to_transition=robot_action_observation_to_transition,
to_output=transition_to_robot_action, to_output=transition_to_robot_action,
) )
robot_proc = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction]( robot_proc = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
steps=[IdentityProcessor()], steps=[IdentityProcessorStep()],
to_transition=robot_action_observation_to_transition, to_transition=robot_action_observation_to_transition,
to_output=transition_to_robot_action, to_output=transition_to_robot_action,
) )
obs_proc = RobotProcessorPipeline[RobotObservation, RobotObservation]( obs_proc = RobotProcessorPipeline[RobotObservation, RobotObservation](
steps=[IdentityProcessor()], steps=[IdentityProcessorStep()],
to_transition=observation_to_transition, to_transition=observation_to_transition,
to_output=transition_to_observation, to_output=transition_to_observation,
) )