admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-23 12:40:08 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
examples/phone_to_so100/record.py
+4 -4
View File
@@ -20,7 +20,7 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features
from lerobot.datasets.utils import merge_features
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessor
from lerobot.processor import DataProcessorPipeline
from lerobot.processor.converters import (
to_output_robot_action,
to_transition_robot_observation,
@@ -73,7 +73,7 @@ kinematics_solver = RobotKinematics(
)
# Build pipeline to convert phone action to ee pose action
phone_to_robot_ee_pose_processor = RobotProcessor(
phone_to_robot_ee_pose_processor = DataProcessorPipeline(
steps=[
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
AddRobotObservationAsComplimentaryData(robot=robot),
@@ -93,7 +93,7 @@ phone_to_robot_ee_pose_processor = RobotProcessor(
)
# Build pipeline to convert ee pose action to joint action
robot_ee_to_joints_processor = RobotProcessor(
robot_ee_to_joints_processor = DataProcessorPipeline(
steps=[
InverseKinematicsEEToJoints(
kinematics=kinematics_solver,
@@ -110,7 +110,7 @@ robot_ee_to_joints_processor = RobotProcessor(
)
# Build pipeline to convert joint observation to ee pose observation
robot_joints_to_ee_pose = RobotProcessor(
robot_joints_to_ee_pose = DataProcessorPipeline(
steps=[
ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
],