From 52028f5201ca7e9a7700bcdc028c123bfeef4294 Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Wed, 4 Jun 2025 12:47:24 +0200
Subject: [PATCH] Address Michel's comments

---
 lerobot/record.py      | 16 ++++++----------
 lerobot/teleoperate.py | 12 ++++++++----
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/lerobot/record.py b/lerobot/record.py
index 99e46cd4b..20c8d6918 100644
--- a/lerobot/record.py
+++ b/lerobot/record.py
@@ -92,7 +92,7 @@ class DatasetRecordConfig:
     single_task: str
     # Root directory where the dataset will be stored (e.g. 'dataset/path').
     root: str | Path | None = None
-    # Limit the frames per second. By default, uses the policy fps.
+    # Limit the frames per second.
     fps: int = 30
     # Number of seconds for data recording for each episode.
     episode_time_s: int | float = 60
@@ -159,15 +159,15 @@ class RecordConfig:
 def record_loop(
     robot: Robot,
     events: dict,
+    fps: int,
     dataset: LeRobotDataset | None = None,
     teleop: Teleoperator | None = None,
     policy: PreTrainedPolicy | None = None,
     control_time_s: int | None = None,
-    fps: int | None = None,
     single_task: str | None = None,
     display_data: bool = False,
 ):
-    if dataset is not None and fps is not None and dataset.fps != fps:
+    if dataset is not None and dataset.fps != fps:
         raise ValueError(f"The dataset fps should be equal to requested fps ({dataset.fps} != {fps}).")
 
     # if policy is given it needs cleaning up
@@ -216,12 +216,8 @@ def record_loop(
                 if isinstance(val, float):
                     rr.log(f"action.{act}", rr.Scalar(val))
 
-        if fps is not None:
-            dt_s = time.perf_counter() - start_loop_t
-            busy_wait(1 / fps - dt_s)
-
         dt_s = time.perf_counter() - start_loop_t
-        # log_control_info(robot, dt_s, fps=fps)
+        busy_wait(1 / fps - dt_s)
 
         timestamp = time.perf_counter() - start_episode_t
         if events["exit_early"]:
@@ -283,11 +279,11 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
         record_loop(
             robot=robot,
             events=events,
+            fps=cfg.dataset.fps,
             teleop=teleop,
             policy=policy,
             dataset=dataset,
             control_time_s=cfg.dataset.episode_time_s,
-            fps=cfg.dataset.fps,
             single_task=cfg.dataset.single_task,
             display_data=cfg.display_data,
         )
@@ -301,9 +297,9 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
             record_loop(
                 robot=robot,
                 events=events,
+                fps=cfg.dataset.fps,
                 teleop=teleop,
                 control_time_s=cfg.dataset.reset_time_s,
-                fps=cfg.dataset.fps,
                 single_task=cfg.dataset.single_task,
                 display_data=cfg.display_data,
             )
diff --git a/lerobot/teleoperate.py b/lerobot/teleoperate.py
index 84acfdc5b..97e610430 100644
--- a/lerobot/teleoperate.py
+++ b/lerobot/teleoperate.py
@@ -54,6 +54,7 @@ from lerobot.common.teleoperators import (
     TeleoperatorConfig,
     make_teleoperator_from_config,
 )
+from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.common.utils.utils import init_logging, move_cursor_up
 from lerobot.common.utils.visualization_utils import _init_rerun
 
@@ -64,15 +65,15 @@ from .common.teleoperators import koch_leader, so100_leader, so101_leader  # noq
 class TeleoperateConfig:
     teleop: TeleoperatorConfig
     robot: RobotConfig
-    # Limit the maximum frames per second. By default, no limit.
-    fps: int | None = None
+    # Limit the maximum frames per second.
+    fps: int = 60
     teleop_time_s: float | None = None
     # Display all cameras on screen
     display_data: bool = False
 
 
 def teleop_loop(
-    teleop: Teleoperator, robot: Robot, display_data: bool = False, duration: float | None = None
+    teleop: Teleoperator, robot: Robot, fps: int, display_data: bool = False, duration: float | None = None
 ):
     display_len = max(len(key) for key in robot.action_features)
     start = time.perf_counter()
@@ -91,6 +92,9 @@ def teleop_loop(
                     rr.log(f"action_{act}", rr.Scalar(val))
 
         robot.send_action(action)
+        dt_s = time.perf_counter() - loop_start
+        busy_wait(1 / fps - dt_s)
+
         loop_s = time.perf_counter() - loop_start
 
         print("\n" + "-" * (display_len + 10))
@@ -119,7 +123,7 @@ def teleoperate(cfg: TeleoperateConfig):
     robot.connect()
 
     try:
-        teleop_loop(teleop, robot, display_data=cfg.display_data, duration=cfg.teleop_time_s)
+        teleop_loop(teleop, robot, cfg.fps, display_data=cfg.display_data, duration=cfg.teleop_time_s)
     except KeyboardInterrupt:
         pass
     finally: