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bug fix for #1071 When --display_data=true, Failed running control_robot. #1073

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Merged
CarolinePascal merged 1 commit into from
May 9, 2025
Merged

bug fix for #1071 When --display_data=true, Failed running control_robot. #1073

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8 changes: 5 additions & 3 deletions lerobot/common/robot_devices/control_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -250,6 +250,7 @@ def control_loop(
observation, action = robot.teleop_step(record_data=True)
else:
observation = robot.capture_observation()
action = None

if policy is not None:
pred_action = predict_action(
Expand All @@ -266,9 +267,10 @@ def control_loop(

# TODO(Steven): This should be more general (for RemoteRobot instead of checking the name, but anyways it will change soon)
if (display_data and not is_headless()) or (display_data and robot.robot_type.startswith("lekiwi")):
for k, v in action.items():
for i, vv in enumerate(v):
rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
if action is not None:
for k, v in action.items():
for i, vv in enumerate(v):
rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))

image_keys = [key for key in observation if "image" in key]
for key in image_keys:
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