From 8039a76e77de24ca184a75650c15fd132b13d878 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Thu, 8 Jan 2026 17:22:03 +0100 Subject: [PATCH] build camera dict properly --- examples/openarms/evaluate_ee.py | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/examples/openarms/evaluate_ee.py b/examples/openarms/evaluate_ee.py index b34744769..8f45a5719 100644 --- a/examples/openarms/evaluate_ee.py +++ b/examples/openarms/evaluate_ee.py @@ -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)