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build obs frame with name from training

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Pepijn
2026-01-08 17:28:39 +01:00
parent 8039a76e77
commit 8025ab0594
1 changed files with 13 additions and 6 deletions
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examples/openarms/evaluate_ee.py
+13 -6
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@@ -318,13 +318,20 @@ def run_ee_inference_loop(
ee_state = joints_to_ee(joint_state.copy()) ee_state = joints_to_ee(joint_state.copy())
# Store current EE position for relative action conversion
current_ee_pos = torch.tensor([ee_state.get(k, 0.0) for k in sorted(ee_state.keys())])
# 3. Build observation frame with EE state for policy input # 3. Build observation frame with EE state for policy input
# Build state array from EE values (sorted to match training order) # Use state names from dataset features to match training order
ee_keys = sorted(ee_state.keys()) state_names = dataset.features.get("observation.state", {}).get("names", [])
ee_values = [ee_state[k] for k in ee_keys]
if state_names:
# Build state array using the exact names from training
ee_values = [ee_state.get(name, 0.0) for name in state_names]
else:
# Fallback: use sorted keys
state_names = sorted(ee_state.keys())
ee_values = [ee_state[k] for k in state_names]
# Store current EE position for relative action conversion (using same order)
current_ee_pos = torch.tensor(ee_values)
# Convert to relative state if enabled (UMI-style) # Convert to relative state if enabled (UMI-style)
if use_relative_state: if use_relative_state: