Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots

lerobot/common/robots/so100_follower/README.md

@@ -128,7 +128,7 @@ sudo chmod 666 /dev/ttyACM1
 #### d. Update config file
 
 IMPORTANTLY: Now that you have your ports, update the **port** default values of [`SO100RobotConfig`](../lerobot/common/robot_devices/robots/configs.py). You will find something like:
-```python
+```diff
 @RobotConfig.register_subclass("so100")
 @dataclass
 class So100RobotConfig(ManipulatorRobotConfig):
@@ -141,7 +141,8 @@ class So100RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem58760431091",
++                port="{ADD YOUR LEADER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -158,7 +159,8 @@ class So100RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem585A0076891",
++                port="{ADD YOUR FOLLOWER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],

lerobot/common/utils/control_utils.py

@@ -250,6 +250,7 @@ def control_loop(
             observation, action = robot.teleop_step(record_data=True)
         else:
             observation = robot.capture_observation()
+            action = None
 
             if policy is not None:
                 pred_action = predict_action(
@@ -266,9 +267,10 @@ def control_loop(
 
         # TODO(Steven): This should be more general (for RemoteRobot instead of checking the name, but anyways it will change soon)
         if (display_data and not is_headless()) or (display_data and robot.robot_type.startswith("lekiwi")):
-            for k, v in action.items():
-                for i, vv in enumerate(v):
-                    rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
+            if action is not None:
+                for k, v in action.items():
+                    for i, vv in enumerate(v):
+                        rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
 
             image_keys = [key for key in observation if "image" in key]
             for key in image_keys: