Fix missing local_files_only in record/replay (#540)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

.github/workflows/test.yml

@@ -102,38 +102,38 @@ jobs:
             && rm -rf tests/outputs outputs
 
   # TODO(aliberts, rcadene): redesign after v2 migration / removing hydra
-  end-to-end:
-    name: End-to-end
-    runs-on: ubuntu-latest
-    env:
-      MUJOCO_GL: egl
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          lfs: true  # Ensure LFS files are pulled
+  # end-to-end:
+  #   name: End-to-end
+  #   runs-on: ubuntu-latest
+  #   env:
+  #     MUJOCO_GL: egl
+  #   steps:
+  #     - uses: actions/checkout@v4
+  #       with:
+  #         lfs: true  # Ensure LFS files are pulled
 
-      - name: Install apt dependencies
-      # portaudio19-dev is needed to install pyaudio
-        run: |
-          sudo apt-get update && \
-          sudo apt-get install -y libegl1-mesa-dev portaudio19-dev
+  #     - name: Install apt dependencies
+  #     # portaudio19-dev is needed to install pyaudio
+  #       run: |
+  #         sudo apt-get update && \
+  #         sudo apt-get install -y libegl1-mesa-dev portaudio19-dev
 
-      - name: Install poetry
-        run: |
-          pipx install poetry && poetry config virtualenvs.in-project true
-          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
+  #     - name: Install poetry
+  #       run: |
+  #         pipx install poetry && poetry config virtualenvs.in-project true
+  #         echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
 
-      - name: Set up Python 3.10
-        uses: actions/setup-python@v5
-        with:
-          python-version: "3.10"
-          cache: "poetry"
+  #     - name: Set up Python 3.10
+  #       uses: actions/setup-python@v5
+  #       with:
+  #         python-version: "3.10"
+  #         cache: "poetry"
 
-      - name: Install poetry dependencies
-        run: |
-          poetry install --all-extras
+  #     - name: Install poetry dependencies
+  #       run: |
+  #         poetry install --all-extras
 
-      - name: Test end-to-end
-        run: |
-          make test-end-to-end \
-            && rm -rf outputs
+  #     - name: Test end-to-end
+  #       run: |
+  #         make test-end-to-end \
+  #           && rm -rf outputs

lerobot/scripts/control_robot.py

@@ -341,7 +341,7 @@ def replay(
     episode: int,
     fps: int | None = None,
     play_sounds: bool = True,
-    local_files_only: bool = True,
+    local_files_only: bool = False,
 ):
     # TODO(rcadene, aliberts): refactor with control_loop, once `dataset` is an instance of LeRobotDataset
     # TODO(rcadene): Add option to record logs
@@ -424,7 +424,7 @@ if __name__ == "__main__":
         "--root",
         type=Path,
         default=None,
-        help="Root directory where the dataset will be stored locally at '{root}/{repo_id}' (e.g. 'data/hf_username/dataset_name').",
+        help="Root directory where the dataset will be stored (e.g. 'dataset/path').",
     )
     parser_record.add_argument(
         "--repo-id",
@@ -432,6 +432,12 @@ if __name__ == "__main__":
         default="lerobot/test",
         help="Dataset identifier. By convention it should match '{hf_username}/{dataset_name}' (e.g. `lerobot/test`).",
     )
+    parser_record.add_argument(
+        "--local-files-only",
+        type=int,
+        default=0,
+        help="Use local files only. By default, this script will try to fetch the dataset from the hub if it exists.",
+    )
     parser_record.add_argument(
         "--warmup-time-s",
         type=int,
@@ -520,7 +526,7 @@ if __name__ == "__main__":
         "--root",
         type=Path,
         default=None,
-        help="Root directory where the dataset will be stored locally at '{root}/{repo_id}' (e.g. 'data/hf_username/dataset_name').",
+        help="Root directory where the dataset will be stored (e.g. 'dataset/path').",
     )
     parser_replay.add_argument(
         "--repo-id",
@@ -528,6 +534,12 @@ if __name__ == "__main__":
         default="lerobot/test",
         help="Dataset identifier. By convention it should match '{hf_username}/{dataset_name}' (e.g. `lerobot/test`).",
     )
+    parser_replay.add_argument(
+        "--local-files-only",
+        type=int,
+        default=0,
+        help="Use local files only. By default, this script will try to fetch the dataset from the hub if it exists.",
+    )
     parser_replay.add_argument("--episode", type=int, default=0, help="Index of the episode to replay.")
 
     args = parser.parse_args()

tests/test_control_robot.py

@@ -158,7 +158,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
     assert dataset.meta.total_episodes == 2
     assert len(dataset) == 2
 
-    replay(robot, episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False)
+    replay(robot, episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False, local_files_only=True)
 
     # TODO(rcadene, aliberts): rethink this design
     if robot_type == "aloha":