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Pepijn
2026-01-09 11:08:02 +01:00
parent d63b83ff40
commit c4953a57c0
2 changed files with 27 additions and 11 deletions
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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) # Filter out non-feature keys (like _timing_breakdown)
obs_for_frame = {k: v for k, v in obs_processed.items() if not k.startswith("_")} obs_for_frame = {k: v for k, v in obs_processed.items() if not k.startswith("_")}
# Debug: log keys on first iteration # Check for missing camera keys and wait for them if needed
if action_queue.qsize() == 0: expected_img_keys = [k.removeprefix("observation.images.")
logger.info(f"[GET_ACTIONS] obs_for_frame keys: {list(obs_for_frame.keys())}") for k in hw_features if "images" in k]
logger.info(f"[GET_ACTIONS] hw_features keys: {list(hw_features.keys())}") missing_keys = [k for k in expected_img_keys if k not in obs_for_frame]
# Check expected vs actual image keys
expected_img_keys = [k.removeprefix("observation.images.") if missing_keys:
for k in hw_features if "images" in k] logger.warning(f"[GET_ACTIONS] Missing camera keys: {missing_keys}, retrying...")
logger.info(f"[GET_ACTIONS] Expected image keys: {expected_img_keys}") # Retry observation to get camera frames
for k in expected_img_keys: for _ in range(5):
logger.info(f"[GET_ACTIONS] '{k}' in obs_for_frame: {k in obs_for_frame}") 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( obs_with_policy_features = build_dataset_frame(
hw_features, obs_for_frame, prefix="observation" hw_features, obs_for_frame, prefix="observation"
src/lerobot/robots/openarms/openarms_follower.py
+6 -1
View File
@@ -344,10 +344,15 @@ class OpenArmsFollower(Robot):
obs_dict[cam_key] = frame obs_dict[cam_key] = frame
except TimeoutError: except TimeoutError:
# If no new frame available, reuse last valid frame from cache # If no new frame available, reuse last valid frame from cache
# This prevents blocking the entire control loop on slow USB reads
if self.camera_frame_cache[cam_key] is not None: if self.camera_frame_cache[cam_key] is not None:
obs_dict[cam_key] = self.camera_frame_cache[cam_key] obs_dict[cam_key] = self.camera_frame_cache[cam_key]
logger.debug(f"Camera {cam_key} timeout, reusing cached frame") logger.debug(f"Camera {cam_key} timeout, reusing cached frame")
else:
# First frame not available yet - use blocking read to ensure we get a frame
logger.warning(f"Camera {cam_key} no cached frame, doing blocking read")
frame = cam.read()
self.camera_frame_cache[cam_key] = frame
obs_dict[cam_key] = frame
# Store timing with padded name to align output (e.g. "left_wrist ") # Store timing with padded name to align output (e.g. "left_wrist ")
timings[f"{cam_key:14s}"] = (time.perf_counter() - t0) * 1000 timings[f"{cam_key:14s}"] = (time.perf_counter() - t0) * 1000