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chore(processor): rename RobotProcessor -> DataProcessorPipeline (#1850)

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This commit is contained in:
Steven Palma
2025-09-03 17:13:16 +02:00
committed by GitHub
parent 4ebe482a7e
commit 8c796b39f5
38 changed files with 326 additions and 298 deletions
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examples/phone_to_so100/evaluate.py
+3 -3
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@@ -21,7 +21,7 @@ from lerobot.datasets.utils import merge_features
from lerobot.model.kinematics import RobotKinematics
from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.policies.factory import make_pre_post_processors
from lerobot.processor import RobotProcessor
from lerobot.processor import DataProcessorPipeline
from lerobot.processor.converters import (
to_output_robot_action,
to_transition_robot_observation,
@@ -65,7 +65,7 @@ kinematics_solver = RobotKinematics(
)
# Build pipeline to convert ee pose action to joint action
robot_ee_to_joints_processor = RobotProcessor(
robot_ee_to_joints_processor = DataProcessorPipeline(
steps=[
AddRobotObservationAsComplimentaryData(robot=robot),
InverseKinematicsEEToJoints(
@@ -79,7 +79,7 @@ robot_ee_to_joints_processor = RobotProcessor(
)
# Build pipeline to convert joint observation to ee pose observation
robot_joints_to_ee_pose_processor = RobotProcessor(
robot_joints_to_ee_pose_processor = DataProcessorPipeline(
steps=[
ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
],