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fix(record-mode): handle missing teleop device in gym_hil environments #2327

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fix(record-mode): handle missing teleop device in gym_hil environments #2327

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fix(record-mode): handle missing teleop device in gym_hil environments
Oct 28, 2025
ea002df
Merge branch 'main' into fix/record-mode-error-in-sim
hcooch2ch3 Nov 4, 2025
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13 changes: 12 additions & 1 deletion src/lerobot/rl/gym_manipulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -599,7 +599,18 @@ def control_loop(

dataset = None
if cfg.mode == "record":
action_features = teleop_device.action_features
# Get action features from teleop device or environment action space
if teleop_device is not None:
action_features = teleop_device.action_features
else:
# For gym_hil environments without teleop device, derive from action space
action_space = env.action_space
action_features = {
"dtype": "float32",
"shape": action_space.shape,
"names": None,
}

features = {
ACTION: action_features,
REWARD: {"dtype": "float32", "shape": (1,), "names": None},
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