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adding extra guard like dagged with try except finally

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Maximellerbach
2026-06-03 17:13:32 +02:00
parent 7a843d8f93
commit 7579ad320e
1 changed files with 47 additions and 38 deletions
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src/lerobot/rollout/strategies/legacy.py
+47 -38
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@@ -31,6 +31,7 @@ Dataset naming follows the rollout convention: repo names must start with ``roll
from __future__ import annotations from __future__ import annotations
import contextlib
import logging import logging
import time import time
@@ -104,53 +105,61 @@ class LegacyStrategy(RolloutStrategy):
) )
with VideoEncodingManager(dataset): with VideoEncodingManager(dataset):
recorded_episodes = 0 try:
while recorded_episodes < num_episodes and not events["stop_recording"]: recorded_episodes = 0
if ctx.runtime.shutdown_event.is_set(): while recorded_episodes < num_episodes and not events["stop_recording"]:
break if ctx.runtime.shutdown_event.is_set():
break
# Reset policy state at episode start (discard leftover hidden state / queue) # Reset policy state at episode start (discard leftover hidden state / queue)
self._engine.reset() self._engine.reset()
self._interpolator.reset() self._interpolator.reset()
self._engine.resume() self._engine.resume()
log_say(f"Recording episode {dataset.num_episodes}", play_sounds) log_say(f"Recording episode {dataset.num_episodes}", play_sounds)
self._policy_loop( self._policy_loop(
ctx=ctx,
robot=robot,
events=events,
features=features,
fps=fps,
control_time_s=episode_time_s,
dataset=dataset,
single_task=single_task,
)
# Reset phase, skip after the last episode (but run when re-recording)
if not events["stop_recording"] and (
recorded_episodes < num_episodes - 1 or events["rerecord_episode"]
):
log_say("Reset the environment", play_sounds)
self._reset_loop(
ctx=ctx, ctx=ctx,
robot=robot, robot=robot,
teleop=teleop,
events=events, events=events,
features=features,
fps=fps, fps=fps,
control_time_s=reset_time_s, control_time_s=episode_time_s,
display_data=cfg.display_data, dataset=dataset,
display_compressed=display_compressed, single_task=single_task,
) )
if events["rerecord_episode"]: # Reset phase, skip after the last episode (but run when re-recording)
log_say("Re-record episode", play_sounds) if not events["stop_recording"] and (
events["rerecord_episode"] = False recorded_episodes < num_episodes - 1 or events["rerecord_episode"]
events["exit_early"] = False ):
dataset.clear_episode_buffer() log_say("Reset the environment", play_sounds)
continue self._reset_loop(
ctx=ctx,
robot=robot,
teleop=teleop,
events=events,
fps=fps,
control_time_s=reset_time_s,
display_data=cfg.display_data,
display_compressed=display_compressed,
)
dataset.save_episode() if events["rerecord_episode"]:
recorded_episodes += 1 log_say("Re-record episode", play_sounds)
events["rerecord_episode"] = False
events["exit_early"] = False
dataset.clear_episode_buffer()
continue
dataset.save_episode()
recorded_episodes += 1
finally:
# Save any frames buffered in the current episode so an unexpected
# exception or KeyboardInterrupt does not silently drop recorded data.
# suppress: save_episode raises if the buffer is empty (nothing to lose).
logger.info("Legacy control loop ended — saving any in-progress episode")
with contextlib.suppress(Exception):
dataset.save_episode()
def _policy_loop( def _policy_loop(
self, self,