fix unit tests

lerobot/common/robot_devices/control_utils.py

@@ -167,6 +167,7 @@ def init_policy(pretrained_policy_name_or_path, policy_overrides):
     # Check device is available
     device = get_safe_torch_device(hydra_cfg.device, log=True)
     use_amp = hydra_cfg.use_amp
+    policy_fps = hydra_cfg.env.fps
 
     policy.eval()
     policy.to(device)
@@ -174,8 +175,6 @@ def init_policy(pretrained_policy_name_or_path, policy_overrides):
     torch.backends.cudnn.benchmark = True
     torch.backends.cuda.matmul.allow_tf32 = True
     set_global_seed(hydra_cfg.seed)
-
-    policy_fps = hydra_cfg.env.fps
     return policy, policy_fps, device, use_amp
 
 

lerobot/scripts/control_robot.py

@@ -223,9 +223,12 @@ def record(
     if pretrained_policy_name_or_path is not None:
         policy, policy_fps, device, use_amp = init_policy(pretrained_policy_name_or_path, policy_overrides)
 
-        if fps != policy_fps:
+        if fps is None:
+            fps = policy_fps
+            logging.warning(f"No fps provided, so using the fps from policy config ({policy_fps}).")
+        elif fps != policy_fps:
             logging.warning(
-                f"There is a mismatch between the provided fps ({fps}) and the one from policy config {policy_fps}."
+                f"There is a mismatch between the provided fps ({fps}) and the one from policy config ({policy_fps})."
             )
 
     # Create empty dataset or load existing saved episodes