Update control_utils.py

lerobot/common/robot_devices/control_utils.py

@@ -113,46 +113,73 @@ def predict_action(observation, policy, device, use_amp):
     return action
 
 
+# def init_keyboard_listener():
+#     # Allow to exit early while recording an episode or resetting the environment,
+#     # by tapping the right arrow key '->'. This might require a sudo permission
+#     # to allow your terminal to monitor keyboard events.
+#     events = {}
+#     events["exit_early"] = False
+#     events["rerecord_episode"] = False
+#     events["stop_recording"] = False
+
+#     if is_headless():
+#         logging.warning(
+#             "Headless environment detected. On-screen cameras display and keyboard inputs will not be available."
+#         )
+#         listener = None
+#         return listener, events
+
+#     # Only import pynput if not in a headless environment
+#     from pynput import keyboard
+
+#     def on_press(key):
+#         try:
+#             if key == keyboard.Key.right:
+#                 print("Right arrow key pressed. Exiting loop...")
+#                 events["exit_early"] = True
+#             elif key == keyboard.Key.left:
+#                 print("Left arrow key pressed. Exiting loop and rerecord the last episode...")
+#                 events["rerecord_episode"] = True
+#                 events["exit_early"] = True
+#             elif key == keyboard.Key.esc:
+#                 print("Escape key pressed. Stopping data recording...")
+#                 events["stop_recording"] = True
+#                 events["exit_early"] = True
+#         except Exception as e:
+#             print(f"Error handling key press: {e}")
+
+#     listener = keyboard.Listener(on_press=on_press)
+#     listener.start()
+
+#     return listener, events
+
 def init_keyboard_listener():
-    # Allow to exit early while recording an episode or resetting the environment,
-    # by tapping the right arrow key '->'. This might require a sudo permission
-    # to allow your terminal to monitor keyboard events.
     events = {}
     events["exit_early"] = False
     events["rerecord_episode"] = False
     events["stop_recording"] = False
-
+    from sshkeyboard import listen_keyboard
-    if is_headless():
+    import threading    
-        logging.warning(
-            "Headless environment detected. On-screen cameras display and keyboard inputs will not be available."
-        )
-        listener = None
-        return listener, events
-
-    # Only import pynput if not in a headless environment
-    from pynput import keyboard
-
     def on_press(key):
         try:
-            if key == keyboard.Key.right:
+            if key == "right":
                 print("Right arrow key pressed. Exiting loop...")
                 events["exit_early"] = True
-            elif key == keyboard.Key.left:
+            elif key == "left":
                 print("Left arrow key pressed. Exiting loop and rerecord the last episode...")
                 events["rerecord_episode"] = True
                 events["exit_early"] = True
-            elif key == keyboard.Key.esc:
+            elif key == "q":
-                print("Escape key pressed. Stopping data recording...")
+                print("Q key pressed. Stopping data recording...")
                 events["stop_recording"] = True
                 events["exit_early"] = True
         except Exception as e:
             print(f"Error handling key press: {e}")
 
-    listener = keyboard.Listener(on_press=on_press)
+    listener = threading.Thread(target=listen_keyboard, kwargs={"on_press": on_press})
     listener.start()
 
-    return listener, events
+    return listener,events
-
 
 def warmup_record(
     robot,
@@ -256,7 +283,8 @@ def control_loop(
             frame = {**observation, **action, "task": single_task}
             dataset.add_frame(frame)
 
-        if display_cameras and not is_headless():
+        if display_cameras:
+        # if display_cameras and not is_headless():
             image_keys = [key for key in observation if "image" in key]
             for key in image_keys:
                 cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
@@ -288,18 +316,26 @@ def reset_environment(robot, events, reset_time_s, fps):
         teleoperate=True,
     )
 
+# def stop_recording(robot, listener, display_cameras):
+#     robot.disconnect()
+
+#     if not is_headless():
+#         if listener is not None:
+#             listener.stop()
+
+#         if display_cameras:
+#             cv2.destroyAllWindows()
 
 def stop_recording(robot, listener, display_cameras):
     robot.disconnect()
 
-    if not is_headless():
+    from sshkeyboard import stop_listening
     if listener is not None:
-            listener.stop()
+        stop_listening()
 
     if display_cameras:
         cv2.destroyAllWindows()
 
-
 def sanity_check_dataset_name(repo_id, policy_cfg):
     _, dataset_name = repo_id.split("/")
     # either repo_id doesnt start with "eval_" and there is no policy