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Simon Alibert
2025-05-08 13:15:37 +02:00
parent 237b14a6ec
commit 8b98399206
4 changed files with 387 additions and 25 deletions
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8
lerobot/common/utils/control_utils.py
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@@ -31,9 +31,9 @@ from termcolor import colored
from lerobot.common.datasets.image_writer import safe_stop_image_writer
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.utils import get_features_from_robot
from lerobot.common.datasets.utils import DEFAULT_FEATURES
from lerobot.common.policies.pretrained import PreTrainedPolicy
from lerobot.common.robots.utils import Robot
from lerobot.common.robots import Robot
from lerobot.common.utils.robot_utils import busy_wait
from lerobot.common.utils.utils import get_safe_torch_device, has_method
@@ -327,12 +327,12 @@ def sanity_check_dataset_name(repo_id, policy_cfg):
def sanity_check_dataset_robot_compatibility(
dataset: LeRobotDataset, robot: Robot, fps: int, use_videos: bool
dataset: LeRobotDataset, robot: Robot, fps: int, features: dict
) -> None:
fields = [
("robot_type", dataset.meta.robot_type, robot.robot_type),
("fps", dataset.fps, fps),
("features", dataset.features, get_features_from_robot(robot, use_videos)),
("features", dataset.features, {**features, **DEFAULT_FEATURES}),
]
mismatches = []