From a5e257188142ad937dadfbdfc409bd72de885e26 Mon Sep 17 00:00:00 2001 From: Remi Cadene Date: Sat, 27 Jul 2024 13:32:35 +0200 Subject: [PATCH] fix control_robot overrides as options --- lerobot/scripts/control_robot.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index e5ff0980..651d6fdf 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -638,7 +638,8 @@ if __name__ == "__main__": help="Path to robot yaml file used to instantiate the robot using `make_robot` factory function.", ) base_parser.add_argument( - "robot_overrides", + "--robot-overrides", + type=str, nargs="*", help="Any key=value arguments to override config values (use dots for.nested=overrides)", ) @@ -717,7 +718,8 @@ if __name__ == "__main__": ), ) parser_record.add_argument( - "overrides", + "--policy-overrides", + type=str, nargs="*", help="Any key=value arguments to override config values (use dots for.nested=overrides)", ) @@ -760,14 +762,14 @@ if __name__ == "__main__": elif control_mode == "record": pretrained_policy_name_or_path = args.pretrained_policy_name_or_path - overrides = args.overrides + policy_overrides = args.policy_overrides del kwargs["pretrained_policy_name_or_path"] - del kwargs["overrides"] + del kwargs["policy_overrides"] policy_cfg = None if pretrained_policy_name_or_path is not None: pretrained_policy_path = get_pretrained_policy_path(pretrained_policy_name_or_path) - policy_cfg = init_hydra_config(pretrained_policy_path / "config.yaml", overrides) + policy_cfg = init_hydra_config(pretrained_policy_path / "config.yaml", policy_overrides) policy = make_policy(hydra_cfg=policy_cfg, pretrained_policy_name_or_path=pretrained_policy_path) record(robot, policy, policy_cfg, **kwargs) else: