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chore(utils): remove unused code (#2059)

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This commit is contained in:
Steven Palma
2025-09-26 14:30:17 +02:00
committed by GitHub
parent c5b5955c5a
commit 49918efbc1
2 changed files with 0 additions and 63 deletions
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59
src/lerobot/utils/control_utils.py
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@@ -27,7 +27,6 @@ from typing import Any
import numpy as np import numpy as np
import torch import torch
from deepdiff import DeepDiff from deepdiff import DeepDiff
from termcolor import colored
from lerobot.datasets.lerobot_dataset import LeRobotDataset from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import DEFAULT_FEATURES from lerobot.datasets.utils import DEFAULT_FEATURES
@@ -36,64 +35,6 @@ from lerobot.processor import PolicyAction, PolicyProcessorPipeline
from lerobot.robots import Robot from lerobot.robots import Robot
def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None):
"""
Logs performance metrics for a single step of the robot control loop.
This function formats and prints a single line of log information, including episode/frame counters,
total loop time (dt), and detailed timings for various robot and camera operations. It can also
highlight performance drops in yellow if the actual FPS is lower than the target FPS.
Args:
robot: The `Robot` instance, used to access its internal logs for detailed timings.
dt_s: The total duration of the control loop step in seconds.
episode_index: The index of the current episode.
frame_index: The index of the current frame within the episode.
fps: The target frames per second, used to check for performance degradation.
"""
log_items = []
if episode_index is not None:
log_items.append(f"ep:{episode_index}")
if frame_index is not None:
log_items.append(f"frame:{frame_index}")
def log_dt(shortname, dt_val_s):
nonlocal log_items, fps
info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1 / dt_val_s:3.1f}hz)"
if fps is not None:
actual_fps = 1 / dt_val_s
if actual_fps < fps - 1:
info_str = colored(info_str, "yellow")
log_items.append(info_str)
# total step time displayed in milliseconds and its frequency
log_dt("dt", dt_s)
# TODO(aliberts): move robot-specific logs logic in robot.print_logs()
if not robot.robot_type.startswith("stretch"):
for name in robot.leader_arms:
key = f"read_leader_{name}_pos_dt_s"
if key in robot.logs:
log_dt("dtRlead", robot.logs[key])
for name in robot.follower_arms:
key = f"write_follower_{name}_goal_pos_dt_s"
if key in robot.logs:
log_dt("dtWfoll", robot.logs[key])
key = f"read_follower_{name}_pos_dt_s"
if key in robot.logs:
log_dt("dtRfoll", robot.logs[key])
for name in robot.cameras:
key = f"read_camera_{name}_dt_s"
if key in robot.logs:
log_dt(f"dtR{name}", robot.logs[key])
info_str = " ".join(log_items)
logging.info(info_str)
@cache @cache
def is_headless(): def is_headless():
""" """

4
src/lerobot/utils/import_utils.py
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@@ -57,8 +57,4 @@ def is_package_available(pkg_name: str, return_version: bool = False) -> tuple[b
return package_exists return package_exists
_torch_available, _torch_version = is_package_available("torch", return_version=True)
_transformers_available = is_package_available("transformers") _transformers_available = is_package_available("transformers")
_gym_xarm_available = is_package_available("gym_xarm")
_gym_aloha_available = is_package_available("gym_aloha")
_gym_pusht_available = is_package_available("gym_pusht")