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debug(scripts): simplify record with processors (#1918)

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Steven Palma
2025-09-11 18:20:39 +02:00
committed by GitHub
parent efde42d4a9
commit cd0098a5f7
4 changed files with 63 additions and 67 deletions
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examples/phone_to_so100/evaluate.py
+1 -3
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@@ -93,9 +93,8 @@ robot_joints_to_ee_pose_processor = RobotProcessorPipeline[dict[str, Any], EnvTr
# Build dataset action and gripper features
action_ee_and_gripper = aggregate_pipeline_dataset_features(
pipeline=robot_ee_to_joints_processor,
initial_features=create_initial_features(),
initial_features=create_initial_features(action=robot.action_features),
use_videos=True,
patterns=["action.ee", "action.gripper.pos", "observation.state.gripper.pos"],
) # Get all ee action features + gripper pos action features
# Build dataset observation features
@@ -103,7 +102,6 @@ obs_ee = aggregate_pipeline_dataset_features(
pipeline=robot_joints_to_ee_pose_processor,
initial_features=create_initial_features(observation=robot.observation_features),
use_videos=True,
patterns=["observation.state.ee"],
) # Get all ee observation features
dataset_features = combine_feature_dicts(obs_ee, action_ee_and_gripper)
examples/phone_to_so100/record.py
+1 -4
View File
@@ -125,15 +125,13 @@ action_ee = aggregate_pipeline_dataset_features(
pipeline=phone_to_robot_ee_pose_processor,
initial_features=create_initial_features(action=phone.action_features),
use_videos=True,
patterns=["action.ee"],
)
# Get gripper pos action features
gripper = aggregate_pipeline_dataset_features(
pipeline=robot_ee_to_joints_processor,
initial_features=create_initial_features(),
initial_features=create_initial_features(action=robot.action_features),
use_videos=True,
patterns=["action.gripper.pos", "observation.state.gripper.pos"],
)
# Build dataset ee observation features
@@ -141,7 +139,6 @@ observation_ee = aggregate_pipeline_dataset_features(
pipeline=robot_joints_to_ee_pose,
initial_features=create_initial_features(observation=robot.observation_features),
use_videos=True,
patterns=["observation.state.ee"],
)
dataset_features = combine_feature_dicts(action_ee, gripper, observation_ee)