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Remove validate_robot_cameras_for_policy (#2150)

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

* fix precommit
This commit is contained in:
Pepijn
2025-10-10 11:34:21 +02:00
committed by GitHub
parent 829d2d1ad9
commit 656fc0f059
5 changed files with 0 additions and 26 deletions
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5
src/lerobot/async_inference/configs.py
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@@ -142,11 +142,6 @@ class RobotClientConfig:
default=False, metadata={"help": "Visualize the action queue size"} 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 @property
def environment_dt(self) -> float: def environment_dt(self) -> float:
"""Environment time step, in seconds""" """Environment time step, in seconds"""

9
src/lerobot/async_inference/helpers.py
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@@ -62,15 +62,6 @@ def visualize_action_queue_size(action_queue_size: list[int]) -> None:
plt.show() 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]: 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) return hw_to_dataset_features(robot.observation_features, OBS_STR, use_video=False)

10
src/lerobot/async_inference/robot_client.py
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@@ -48,7 +48,6 @@ import torch
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401
from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401
from lerobot.configs.policies import PreTrainedConfig
from lerobot.robots import ( # noqa: F401 from lerobot.robots import ( # noqa: F401
Robot, Robot,
RobotConfig, RobotConfig,
@@ -76,7 +75,6 @@ from .helpers import (
TimedObservation, TimedObservation,
get_logger, get_logger,
map_robot_keys_to_lerobot_features, map_robot_keys_to_lerobot_features,
validate_robot_cameras_for_policy,
visualize_action_queue_size, visualize_action_queue_size,
) )
@@ -98,14 +96,6 @@ class RobotClient:
lerobot_features = map_robot_keys_to_lerobot_features(self.robot) 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 # Use environment variable if server_address is not provided in config
self.server_address = config.server_address self.server_address = config.server_address

1
tests/async_inference/test_e2e.py
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@@ -139,7 +139,6 @@ def test_async_inference_e2e(monkeypatch):
policy_type="test", policy_type="test",
pretrained_name_or_path="test", pretrained_name_or_path="test",
actions_per_chunk=20, actions_per_chunk=20,
verify_robot_cameras=False,
) )
client = RobotClient(client_config) client = RobotClient(client_config)

1
tests/async_inference/test_robot_client.py
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@@ -51,7 +51,6 @@ def robot_client():
policy_type="test", policy_type="test",
pretrained_name_or_path="test", pretrained_name_or_path="test",
actions_per_chunk=20, actions_per_chunk=20,
verify_robot_cameras=False,
) )
client = RobotClient(test_config) client = RobotClient(test_config)