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policy path can be none

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This commit is contained in:
Pepijn
2025-12-30 11:14:21 +01:00
parent 5ba9fbd9ca
commit c07ab7e1fa
1 changed files with 4 additions and 2 deletions
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examples/rac/rac_data_collection_openarms.py
+4 -2
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@@ -109,8 +109,8 @@ class RaCDatasetConfig:
class RaCConfig: class RaCConfig:
robot: RobotConfig robot: RobotConfig
dataset: RaCDatasetConfig dataset: RaCDatasetConfig
policy: PreTrainedConfig
teleop: TeleoperatorConfig teleop: TeleoperatorConfig
policy: PreTrainedConfig | None = None
display_data: bool = True display_data: bool = True
play_sounds: bool = True play_sounds: bool = True
resume: bool = False resume: bool = False
@@ -121,9 +121,11 @@ class RaCConfig:
cli_overrides = parser.get_cli_overrides("policy") cli_overrides = parser.get_cli_overrides("policy")
self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides) self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
self.policy.pretrained_path = policy_path self.policy.pretrained_path = policy_path
if self.policy is None:
raise ValueError("policy.path is required")
@classmethod @classmethod
def __get_path_fields__(cls) -> list[str]: def __get_path_fields__(cls) -> list[str]:
return ["policy"] return ["policy"]