Do not override fps

lerobot/common/robot_devices/control_utils.py

@@ -158,7 +158,8 @@ def init_keyboard_listener():
     return listener, events
 
 
-def init_policy(pretrained_policy_name_or_path, policy_overrides, fps):
+def init_policy(pretrained_policy_name_or_path, policy_overrides):
+    """Instantiate the policy and load fps, device and use_amp from config yaml"""
     pretrained_policy_path = get_pretrained_policy_path(pretrained_policy_name_or_path)
     hydra_cfg = init_hydra_config(pretrained_policy_path / "config.yaml", policy_overrides)
     policy = make_policy(hydra_cfg=hydra_cfg, pretrained_policy_name_or_path=pretrained_policy_path)
@@ -174,14 +175,8 @@ def init_policy(pretrained_policy_name_or_path, policy_overrides, fps):
     torch.backends.cuda.matmul.allow_tf32 = True
     set_global_seed(hydra_cfg.seed)
 
-    # override fps using policy fps
     policy_fps = hydra_cfg.env.fps
-
-    if fps != policy_fps:
-        logging.warning(f"Overrides fps from provided one {fps} to the one from policy config {policy_fps}")
-        fps = policy_fps
-
-    return policy, fps, device, use_amp
+    return policy, policy_fps, device, use_amp
 
 
 def warmup_record(

lerobot/scripts/control_robot.py

@@ -99,6 +99,7 @@ python lerobot/scripts/control_robot.py record \
 """
 
 import argparse
+import logging
 import time
 from pathlib import Path
 from typing import List
@@ -220,7 +221,12 @@ def record(
 
     # Load pretrained policy
     if pretrained_policy_name_or_path is not None:
-        policy, fps, device, use_amp = init_policy(pretrained_policy_name_or_path, policy_overrides, fps)
+        policy, policy_fps, device, use_amp = init_policy(pretrained_policy_name_or_path, policy_overrides)
+
+        if fps != policy_fps:
+            logging.warning(
+                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
     sanity_check_dataset_name(repo_id, policy)