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add stuff related to real eval

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mshukor
2025-05-30 13:10:56 +02:00
parent a9d425f470
commit a3a73f6822
1 changed files with 2 additions and 1 deletions
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3
lerobot/common/robot_devices/control_utils.py
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@@ -256,7 +256,8 @@ def control_loop(
else: else:
observation = robot.capture_observation() observation = robot.capture_observation()
action = None action = None
observation['task'] = [single_task]
observation["robot_type"] = [policy.robot_type] if hasattr(policy, "robot_type") else [""]
if policy is not None: if policy is not None:
pred_action = predict_action( pred_action = predict_action(
observation, policy, get_safe_torch_device(policy.config.device), policy.config.use_amp observation, policy, get_safe_torch_device(policy.config.device), policy.config.use_amp