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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/rollout.py
+2 -2
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@@ -38,7 +38,7 @@ from lerobot.processor import (
)
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
ForwardKinematicsJointsToEE,
ForwardKinematicsJointsToEEObservation,
InverseKinematicsEEToJoints,
)
from lerobot.rollout import BaseStrategyConfig, RolloutConfig, build_rollout_context
@@ -75,7 +75,7 @@ def main():
)
robot_joints_to_ee_pose_processor = RobotProcessorPipeline[RobotObservation, RobotObservation](
steps=[ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=motor_names)],
steps=[ForwardKinematicsJointsToEEObservation(kinematics=kinematics_solver, motor_names=motor_names)],
to_transition=observation_to_transition,
to_output=transition_to_observation,
)