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remove async stuff

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This commit is contained in:
Pepijn
2026-02-03 11:01:32 +01:00
parent ec1de9c9e3
commit 2d8ac028f9
3 changed files with 7 additions and 272 deletions
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examples/rac/rac_data_collection_openarms_rtc.py
+1 -9
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@@ -102,9 +102,6 @@ class RaCRTCDatasetConfig:
num_image_writer_threads_per_camera: int = 4
video_encoding_batch_size: int = 1
rename_map: dict[str, str] = field(default_factory=dict)
# Async video encoding: encode videos in background without blocking recording
# Set to number of worker processes (0 = half of CPUs, None = disabled)
async_video_encoder_workers: int | None = 0
@dataclass
@@ -725,9 +722,6 @@ def rac_rtc_collect(cfg: RaCRTCConfig) -> LeRobotDataset:
num_processes=cfg.dataset.num_image_writer_processes,
num_threads=cfg.dataset.num_image_writer_threads_per_camera * len(robot_raw.cameras),
)
if cfg.dataset.async_video_encoder_workers is not None:
workers = None if cfg.dataset.async_video_encoder_workers == 0 else cfg.dataset.async_video_encoder_workers
dataset.start_video_encoder(num_workers=workers)
else:
dataset = LeRobotDataset.create(
cfg.dataset.repo_id,
@@ -740,7 +734,6 @@ def rac_rtc_collect(cfg: RaCRTCConfig) -> LeRobotDataset:
image_writer_threads=cfg.dataset.num_image_writer_threads_per_camera
* len(robot_raw.cameras if hasattr(robot_raw, "cameras") else []),
batch_encoding_size=cfg.dataset.video_encoding_batch_size,
video_encoder_workers=cfg.dataset.async_video_encoder_workers,
)
# Load policy
@@ -853,8 +846,7 @@ def rac_rtc_collect(cfg: RaCRTCConfig) -> LeRobotDataset:
dataset.clear_episode_buffer()
continue
use_async = cfg.dataset.async_video_encoder_workers is not None
dataset.save_episode(async_video_encoding=use_async)
dataset.save_episode()
recorded += 1
if recorded < cfg.dataset.num_episodes and not events["stop_recording"]: