When --display_data=true, Failed running control_robot.py with policy.

[masato-ka]

System Info

lerobot version: Commit 8cfab38
OS: macOS Ventura 13.7.4
Python: 3.11.11

Information

• One of the scripts in the examples/ folder of LeRobot
• My own task or dataset (give details below)

Reproduction

When the following command is executed, an Exception is raised at the timing of sending the log of action to rerun.

 python lerobot/scripts/control_robot.py \
  --robot.type=so100 \
  --control.type=record \
  --control.fps=30 \
  --control.single_task="Grasp a lego block and put it in the bin." \
  --control.repo_id=$HF_USER/eval_test \
  --control.tags='["tutorial"]' \
  --control.warmup_time_s=5 \
  --control.episode_time_s=30 \
  --control.reset_time_s=30 \
  --control.num_episodes=10 \
  --control.push_to_hub=false \
  --control.policy.path=$POLICY_PATH\
--control.display_data=true

2025-05-06 09:51:19.724 python[28404:3440850] mac-virtualcam(DAL): PlugIn unhandled hasPropertyWithAddress for Unknown selector: ddsc
Traceback (most recent call last):
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/scripts/control_robot.py", line 437, in <module>
control_robot()
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/configs/parser.py", line 227, in wrapper_inner
response = fn(cfg, *args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/scripts/control_robot.py", line 421, in control_robot
record(robot, cfg.control)
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/common/robot_devices/utils.py", line 42, in wrapper
raise e
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/common/robot_devices/utils.py", line 38, in wrapper
return func(robot, *args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/scripts/control_robot.py", line 288, in record
warmup_record(robot, events, enable_teleoperation, cfg.warmup_time_s, cfg.display_data, cfg.fps)
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/common/robot_devices/control_utils.py", line 180, in warmup_record
control_loop(
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/common/datasets/image_writer.py", line 36, in wrapper
raise e
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/common/datasets/image_writer.py", line 29, in wrapper
return func(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^
File "/Users/kawamuramasato/IdeaProjects/lerobot-sandbox/lerobot/lerobot/common/robot_devices/control_utils.py", line 269, in control_loop
for k, v in action.items():
^^^^^^
UnboundLocalError: cannot access local variable 'action' where it is not associated with a value
2025-05-06 09:51:20.160 python[28404:3440837] mac-virtualcam(DAL): HardwarePlugIn_Teardown self=0x17f869638

Expected behavior

warmup_record in control_robot.py is called with Teleoperation false and Policy in place.
action.items() is called without creating an action object in control_utils.py's control_loop.