Add support for video=False in record (no tested yet)

lerobot/scripts/control_robot.py

@@ -337,9 +337,6 @@ def record(
             f"Your dataset name begins by 'eval_' ({dataset_name}) but no policy is provided ({policy})."
         )
 
-    if not video:
-        raise NotImplementedError()
-
     if not robot.is_connected:
         robot.connect()
 
@@ -550,6 +547,7 @@ def record(
             num_frames = frame_index
 
             for key in image_keys:
+                if video:
                     tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}"
                     fname = f"{key}_episode_{episode_index:06d}.mp4"
                     video_path = local_dir / "videos" / fname
@@ -560,6 +558,13 @@ def record(
                     for i in range(num_frames):
                         ep_dict[key].append({"path": f"videos/{fname}", "timestamp": i / fps})
 
+                else:
+                    imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}"
+                    ep_dict[key] = []
+                    for frame_index in range(num_frames):
+                        img_path = imgs_dir / f"frame_{frame_index:06d}.png"
+                        ep_dict[key].append(img_path)
+
             for key in not_image_keys:
                 ep_dict[key] = torch.stack(ep_dict[key])
 
@@ -622,6 +627,7 @@ def record(
 
     num_episodes = episode_index
 
+    if video:
         logging.info("Encoding videos")
         say("Encoding videos")
         # Use ffmpeg to convert frames stored as png into mp4 videos

tests/test_control_robot.py

@@ -69,6 +69,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
         num_episodes=2,
         run_compute_stats=False,
         push_to_hub=False,
+        video=False,
     )
 
 
@@ -91,6 +92,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
         episode_time_s=1,
         num_episodes=2,
         push_to_hub=False,
+        video=False,
     )
 
     replay(robot, episode=0, fps=30, root=root, repo_id=repo_id)
@@ -106,6 +108,15 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
 
     policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
 
-    record(robot, policy, cfg, warmup_time_s=1, episode_time_s=1, run_compute_stats=False, push_to_hub=False)
+    record(
+        robot,
+        policy,
+        cfg,
+        warmup_time_s=1,
+        episode_time_s=1,
+        run_compute_stats=False,
+        push_to_hub=False,
+        video=False,
+    )
 
     del robot