From f976935ba196d1b4a2e3c615faff67bb956f159b Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Fri, 13 Jun 2025 12:41:30 +0200 Subject: [PATCH] fix(record): no teleop needed when running with policy (#1284) --- docs/source/getting_started_real_world_robot.mdx | 3 --- lerobot/record.py | 2 +- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/docs/source/getting_started_real_world_robot.mdx b/docs/source/getting_started_real_world_robot.mdx index 85f2311d..19392d4c 100644 --- a/docs/source/getting_started_real_world_robot.mdx +++ b/docs/source/getting_started_real_world_robot.mdx @@ -297,9 +297,6 @@ python -m lerobot.record \ --robot.port=/dev/ttyACM1 \ --robot.cameras="{ up: {type: opencv, index_or_path: /dev/video10, width: 640, height: 480, fps: 30}, side: {type: intelrealsense, serial_number_or_name: 233522074606, width: 640, height: 480, fps: 30}}" \ --robot.id=my_awesome_follower_arm \ - --teleop.type=so100_leader \ - --teleop.port=/dev/ttyACM0 \ - --teleop.id=my_awesome_leader_arm \ --display_data=false \ --dataset.repo_id=$HF_USER/eval_so100 \ --dataset.single_task="Put lego brick into the transparent box" \ diff --git a/lerobot/record.py b/lerobot/record.py index 531846f2..884a3fcd 100644 --- a/lerobot/record.py +++ b/lerobot/record.py @@ -139,7 +139,7 @@ class RecordConfig: resume: bool = False def __post_init__(self): - if bool(self.teleop) == bool(self.policy): + if self.teleop is not None and self.policy is not None: raise ValueError("Choose either a policy or a teleoperator to control the robot") # HACK: We parse again the cli args here to get the pretrained path if there was one.