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fix teleop

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This commit is contained in:
Remi Cadene
2024-10-16 20:36:57 +02:00
parent eeea3e5d1d
commit 79ac1ad271
1 changed files with 4 additions and 1 deletions
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5
lerobot/common/robot_devices/control_utils.py
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@@ -224,7 +224,7 @@ def record_episode(
@safe_stop_image_writer @safe_stop_image_writer
def control_loop( def control_loop(
robot, robot,
control_time_s, control_time_s=None,
teleoperate=False, teleoperate=False,
display_cameras=False, display_cameras=False,
dataset=None, dataset=None,
@@ -241,6 +241,9 @@ def control_loop(
if events is None: if events is None:
events = {"exit_early": False} events = {"exit_early": False}
if control_time_s is None:
control_time_s = float("inf")
if teleoperate and policy is not None: if teleoperate and policy is not None:
raise ValueError("When `teleoperate` is True, `policy` should be None.") raise ValueError("When `teleoperate` is True, `policy` should be None.")