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refactor(processors): use specialized processors where possible

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This commit is contained in:
Steven Palma
2026-08-04 18:19:57 +02:00
parent f66e5128ec
commit fc573d46da
32 changed files with 681 additions and 500 deletions
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examples/phone_to_so100/record.py
+2 -2
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@@ -29,7 +29,7 @@ from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
EEReferenceAndDelta,
ForwardKinematicsJointsToEE,
ForwardKinematicsJointsToEEObservation,
GripperVelocityToJoint,
InverseKinematicsEEToJoints,
)
@@ -111,7 +111,7 @@ def main():
# Build pipeline to convert joint observation to EE observation (FK).
robot_joints_to_ee_pose = RobotProcessorPipeline[RobotObservation, RobotObservation](
steps=[
ForwardKinematicsJointsToEE(
ForwardKinematicsJointsToEEObservation(
kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys())
)
],