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build camera dict properly

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Pepijn
2026-01-08 17:22:03 +01:00
parent 3ebeb59cdc
commit 8039a76e77
1 changed files with 4 additions and 8 deletions
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examples/openarms/evaluate_ee.py
+4 -8
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@@ -322,9 +322,6 @@ def run_ee_inference_loop(
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
# Get state names from dataset features to build state array
state_names = dataset.features.get("observation.state", {}).get("names", [])
# Build state array from EE values (sorted to match training order)
ee_keys = sorted(ee_state.keys())
ee_values = [ee_state[k] for k in ee_keys]
@@ -338,11 +335,10 @@ def run_ee_inference_loop(
# Build observation dict for policy (images + state as numpy arrays)
observation_frame = {}
# Add images
for key, value in robot_obs.items():
if ".image" in key:
obs_key = f"observation.images.{key.replace('.image', '')}"
observation_frame[obs_key] = value
# Add images - robot.cameras contains camera names as keys
for cam_name in robot.cameras:
if cam_name in robot_obs:
observation_frame[f"observation.images.{cam_name}"] = robot_obs[cam_name]
# Add state as numpy array
observation_frame["observation.state"] = np.array(ee_values, dtype=np.float32)