Remove dead code & cleanup

lerobot/common/datasets/lerobot_dataset.py

@@ -38,6 +38,7 @@ from lerobot.common.datasets.utils import (
     DEFAULT_IMAGE_PATH,
     INFO_PATH,
     TASKS_PATH,
+    _validate_feature_names,
     append_jsonlines,
     backward_compatible_episodes_stats,
     check_delta_timestamps,
@@ -314,23 +315,9 @@ class LeRobotDatasetMetadata:
 
         obj.root.mkdir(parents=True, exist_ok=False)
 
-        # if robot is not None:
-        #     features = get_features_from_robot(robot, use_videos)
-        #     robot_type = robot.robot_type
-        #     if not all(cam.fps == fps for cam in robot.cameras.values()):
-        #         logging.warning(
-        #             f"Some cameras in your {robot.robot_type} robot don't have an fps matching the fps of your dataset."
-        #             "In this case, frames from lower fps cameras will be repeated to fill in the blanks."
-        #         )
-
         # TODO(aliberts, rcadene): implement sanity check for features
         features = {**features, **DEFAULT_FEATURES}
-
-        # check if none of the features contains a "/" in their names,
-        # as this would break the dict flattening in the stats computation, which uses '/' as separator
-        for key in features:
-            if "/" in key:
-                raise ValueError(f"Feature names should not contain '/'. Found '/' in feature '{key}'.")
+        _validate_feature_names(features)
 
         obj.tasks, obj.task_to_task_index = {}, {}
         obj.episodes_stats, obj.stats, obj.episodes = {}, {}, {}

lerobot/record.py

@@ -243,10 +243,6 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
             cfg.dataset.repo_id,
             root=cfg.dataset.root,
         )
-        # for key, ft in dataset_features.items():
-        #     for property in ["dtype", "shape", "names"]:
-        #         if ft[property] != dataset.features[key][property]:
-        #             raise ValueError(ft)
 
         if hasattr(robot, "cameras") and len(robot.cameras) > 0:
             dataset.start_image_writer(
@@ -277,22 +273,6 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
 
     listener, events = init_keyboard_listener()
 
-    # Execute a few seconds without recording to:
-    # 1. teleoperate the robot to move it in starting position if no policy provided,
-    # 2. give times to the robot devices to connect and start synchronizing,
-    # 3. place the cameras windows on screen
-    # enable_teleoperation = policy is None
-    # log_say("Warmup record", cfg.play_sounds)
-    # record_loop(
-    #     robot=robot,
-    #     control_time_s=cfg.warmup_time_s,
-    #     display_data=cfg.display_data,
-    #     events=events,
-    #     fps=cfg.dataset.fps,
-    #     teleoperate=enable_teleoperation,
-    # )
-    # warmup_record(robot, events, enable_teleoperation, cfg.warmup_time_s, cfg.display_data, cfg.dataset.fps)
-
     for recorded_episodes in range(cfg.dataset.num_episodes):
         log_say(f"Recording episode {dataset.num_episodes}", cfg.play_sounds)
         record_loop(