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Remove validate_robot_cameras_for_policy (#2150)

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* Remove validate_robot_cameras_for_policy as with rename processor the image keys can be renamed an mapped

* fix precommit
This commit is contained in:
Pepijn
2025-10-10 11:34:21 +02:00
committed by GitHub
parent 829d2d1ad9
commit 656fc0f059
5 changed files with 0 additions and 26 deletions
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10
src/lerobot/async_inference/robot_client.py
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@@ -48,7 +48,6 @@ import torch
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401
from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401
from lerobot.configs.policies import PreTrainedConfig
from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
@@ -76,7 +75,6 @@ from .helpers import (
TimedObservation,
get_logger,
map_robot_keys_to_lerobot_features,
validate_robot_cameras_for_policy,
visualize_action_queue_size,
)
@@ -98,14 +96,6 @@ class RobotClient:
lerobot_features = map_robot_keys_to_lerobot_features(self.robot)
if config.verify_robot_cameras:
# Load policy config for validation
policy_config = PreTrainedConfig.from_pretrained(config.pretrained_name_or_path)
policy_image_features = policy_config.image_features
# The cameras specified for inference must match the one supported by the policy chosen
validate_robot_cameras_for_policy(lerobot_features, policy_image_features)
# Use environment variable if server_address is not provided in config
self.server_address = config.server_address