Remove validate_robot_cameras_for_policy (#2150)

* Remove validate_robot_cameras_for_policy as with rename processor the image keys can be renamed an mapped

* fix precommit

src/lerobot/async_inference/configs.py

@@ -142,11 +142,6 @@ class RobotClientConfig:
         default=False, metadata={"help": "Visualize the action queue size"}
     )
 
-    # Verification configuration
-    verify_robot_cameras: bool = field(
-        default=True, metadata={"help": "Verify that the robot cameras match the policy cameras"}
-    )
-
     @property
     def environment_dt(self) -> float:
         """Environment time step, in seconds"""

src/lerobot/async_inference/helpers.py

@@ -62,15 +62,6 @@ def visualize_action_queue_size(action_queue_size: list[int]) -> None:
     plt.show()
 
 
-def validate_robot_cameras_for_policy(
-    lerobot_observation_features: dict[str, dict], policy_image_features: dict[str, PolicyFeature]
-) -> None:
-    image_keys = list(filter(is_image_key, lerobot_observation_features))
-    assert set(image_keys) == set(policy_image_features.keys()), (
-        f"Policy image features must match robot cameras! Received {list(policy_image_features.keys())} != {image_keys}"
-    )
-
-
 def map_robot_keys_to_lerobot_features(robot: Robot) -> dict[str, dict]:
     return hw_to_dataset_features(robot.observation_features, OBS_STR, use_video=False)
 

src/lerobot/async_inference/robot_client.py

@@ -48,7 +48,6 @@ import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
-from lerobot.configs.policies import PreTrainedConfig
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
@@ -76,7 +75,6 @@ from .helpers import (
     TimedObservation,
     get_logger,
     map_robot_keys_to_lerobot_features,
-    validate_robot_cameras_for_policy,
     visualize_action_queue_size,
 )
 
@@ -98,14 +96,6 @@ class RobotClient:
 
         lerobot_features = map_robot_keys_to_lerobot_features(self.robot)
 
-        if config.verify_robot_cameras:
-            # Load policy config for validation
-            policy_config = PreTrainedConfig.from_pretrained(config.pretrained_name_or_path)
-            policy_image_features = policy_config.image_features
-
-            # The cameras specified for inference must match the one supported by the policy chosen
-            validate_robot_cameras_for_policy(lerobot_features, policy_image_features)
-
         # Use environment variable if server_address is not provided in config
         self.server_address = config.server_address
 

tests/async_inference/test_e2e.py

@@ -139,7 +139,6 @@ def test_async_inference_e2e(monkeypatch):
         policy_type="test",
         pretrained_name_or_path="test",
         actions_per_chunk=20,
-        verify_robot_cameras=False,
     )
 
     client = RobotClient(client_config)

tests/async_inference/test_robot_client.py

@@ -51,7 +51,6 @@ def robot_client():
         policy_type="test",
         pretrained_name_or_path="test",
         actions_per_chunk=20,
-        verify_robot_cameras=False,
     )
 
     client = RobotClient(test_config)