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chore(processor): update comments in record.py

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This commit is contained in:
Steven Palma
2025-09-16 18:04:44 +02:00
parent 43eb0e375f
commit d6ce7bd330
1 changed files with 8 additions and 10 deletions
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src/lerobot/record.py
+8 -10
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@@ -205,7 +205,7 @@ class RecordConfig:
V V
[ robot.get_observation() ] ---> raw_obs [ robot.get_observation() ] ---> raw_obs
V V
[ robot_observation_processor ] ---> obs_transition [ robot_observation_processor ] ---> processed_obs
V V
.-----( ACTION LOGIC )------------------. .-----( ACTION LOGIC )------------------.
V V V V
@@ -216,7 +216,7 @@ class RecordConfig:
| V | V | V | V
| [teleop_action_processor] | | | [teleop_action_processor] | |
| | | | | | | |
'---> teleop_transition '---> policy_transition '---> processed_teleop_action '---> processed_policy_action
| | | |
'-------------------------.-------------' '-------------------------.-------------'
V V
@@ -224,7 +224,7 @@ class RecordConfig:
V V
[ robot.send_action() ] -- (Robot Executes) [ robot.send_action() ] -- (Robot Executes)
V V
( Transitions are merged & added to Dataset ) ( Save to Dataset )
V V
( Rerun Log / Loop Wait ) ( Rerun Log / Loop Wait )
""" """
@@ -253,7 +253,7 @@ def record_loop(
raise ValueError(f"The dataset fps should be equal to requested fps ({dataset.fps} != {fps}).") raise ValueError(f"The dataset fps should be equal to requested fps ({dataset.fps} != {fps}).")
teleop_arm = teleop_keyboard = None teleop_arm = teleop_keyboard = None
if isinstance(teleop, list): # For LeKiwi if isinstance(teleop, list):
teleop_keyboard = next((t for t in teleop if isinstance(t, KeyboardTeleop)), None) teleop_keyboard = next((t for t in teleop if isinstance(t, KeyboardTeleop)), None)
teleop_arm = next( teleop_arm = next(
( (
@@ -318,14 +318,13 @@ def record_loop(
f"{name}": float(action_values[i]) for i, name in enumerate(action_names) f"{name}": float(action_values[i]) for i, name in enumerate(action_names)
} }
elif isinstance(teleop, Teleoperator): elif policy is None and isinstance(teleop, Teleoperator):
act = teleop.get_action() act = teleop.get_action()
# Applies a pipeline to the raw teleop action, default is IdentityProcessor # Applies a pipeline to the raw teleop action, default is IdentityProcessor
# TODO(Steven): This assumes that the processor passed by the user should have identity_transition as to_output.
act_processed_teleop = teleop_action_processor(act) act_processed_teleop = teleop_action_processor(act)
elif isinstance(teleop, list): elif policy is None and isinstance(teleop, list):
arm_action = teleop_arm.get_action() arm_action = teleop_arm.get_action()
arm_action = {f"arm_{k}": v for k, v in arm_action.items()} arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
keyboard_action = teleop_keyboard.get_action() keyboard_action = teleop_keyboard.get_action()
@@ -334,14 +333,13 @@ def record_loop(
act_processed_teleop = teleop_action_processor(act) act_processed_teleop = teleop_action_processor(act)
else: else:
logging.info( logging.info(
"No policy or teleoperator provided, skipping action generation. " "No policy or teleoperator provided, skipping action generation."
"This is likely to happen when resetting the environment without a teleop device." "This is likely to happen when resetting the environment without a teleop device."
"The robot won't be at its rest position at the start of the next episode." "The robot won't be at its rest position at the start of the next episode."
) )
continue continue
# Applies a pipeline to the action, default is IdentityProcessor # Applies a pipeline to the action, default is IdentityProcessor
# IMPORTANT: action_pipeline.to_output must return a dict suitable for robot.send_action()
if policy is not None and act_processed_policy is not None: if policy is not None and act_processed_policy is not None:
action_values = act_processed_policy action_values = act_processed_policy
robot_action_to_send = robot_action_processor(act_processed_policy) robot_action_to_send = robot_action_processor(act_processed_policy)
@@ -395,7 +393,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
initial_features=create_initial_features(observation=robot.observation_features), initial_features=create_initial_features(observation=robot.observation_features),
use_videos=cfg.dataset.video, use_videos=cfg.dataset.video,
), ),
) # , **transition_features} )
if cfg.resume: if cfg.resume:
dataset = LeRobotDataset( dataset = LeRobotDataset(