admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-20 02:59:50 +00:00
Code Issues Packages Projects Releases Wiki Activity

debug

Browse Source
This commit is contained in:
Pepijn
2026-01-09 11:08:02 +01:00
parent d63b83ff40
commit c4953a57c0
2 changed files with 27 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/openarms/evaluate_interpolation.py
+21 -10
View File
@@ -270,16 +270,27 @@ def get_actions_thread(
# Filter out non-feature keys (like _timing_breakdown)
obs_for_frame = {k: v for k, v in obs_processed.items() if not k.startswith("_")}
# Debug: log keys on first iteration
if action_queue.qsize() == 0:
logger.info(f"[GET_ACTIONS] obs_for_frame keys: {list(obs_for_frame.keys())}")
logger.info(f"[GET_ACTIONS] hw_features keys: {list(hw_features.keys())}")
# Check expected vs actual image keys
expected_img_keys = [k.removeprefix("observation.images.")
for k in hw_features if "images" in k]
logger.info(f"[GET_ACTIONS] Expected image keys: {expected_img_keys}")
for k in expected_img_keys:
logger.info(f"[GET_ACTIONS] '{k}' in obs_for_frame: {k in obs_for_frame}")
# Check for missing camera keys and wait for them if needed
expected_img_keys = [k.removeprefix("observation.images.")
for k in hw_features if "images" in k]
missing_keys = [k for k in expected_img_keys if k not in obs_for_frame]
if missing_keys:
logger.warning(f"[GET_ACTIONS] Missing camera keys: {missing_keys}, retrying...")
# Retry observation to get camera frames
for _ in range(5):
time.sleep(0.05)
obs = robot.get_observation()
obs_processed = robot_observation_processor(obs)
obs_for_frame = {k: v for k, v in obs_processed.items() if not k.startswith("_")}
missing_keys = [k for k in expected_img_keys if k not in obs_for_frame]
if not missing_keys:
break
if missing_keys:
logger.error(f"[GET_ACTIONS] Still missing keys after retries: {missing_keys}")
logger.error(f"[GET_ACTIONS] Available keys: {list(obs_for_frame.keys())}")
continue # Skip this inference cycle
obs_with_policy_features = build_dataset_frame(
hw_features, obs_for_frame, prefix="observation"