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fix(teleop): keyboard EE teleop not registering special keys and losing intervention state

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Fixes #2345

Co-authored-by: jpizarrom <jpizarrom@gmail.com>
This commit is contained in:
Khalil Meftah
2026-04-13 12:31:00 +02:00
parent 036b310a97
commit 11a0b0174f
1 changed files with 7 additions and 4 deletions
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src/lerobot/teleoperators/keyboard/teleop_keyboard.py
+7 -4
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@@ -104,11 +104,14 @@ class KeyboardTeleop(Teleoperator):
def _on_press(self, key): def _on_press(self, key):
if hasattr(key, "char"): if hasattr(key, "char"):
self.event_queue.put((key.char, True)) key = key.char
self.event_queue.put((key, True))
def _on_release(self, key): def _on_release(self, key):
if hasattr(key, "char"): if hasattr(key, "char"):
self.event_queue.put((key.char, False)) key = key.char
self.event_queue.put((key, False))
if key == keyboard.Key.esc: if key == keyboard.Key.esc:
logging.info("ESC pressed, disconnecting.") logging.info("ESC pressed, disconnecting.")
self.disconnect() self.disconnect()
@@ -204,8 +207,6 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
# this is useful for retrieving other events like interventions for RL, episode success, etc. # this is useful for retrieving other events like interventions for RL, episode success, etc.
self.misc_keys_queue.put(key) self.misc_keys_queue.put(key)
self.current_pressed.clear()
action_dict = { action_dict = {
"delta_x": delta_x, "delta_x": delta_x,
"delta_y": delta_y, "delta_y": delta_y,
@@ -256,6 +257,8 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
] ]
is_intervention = any(self.current_pressed.get(key, False) for key in movement_keys) is_intervention = any(self.current_pressed.get(key, False) for key in movement_keys)
self.current_pressed.clear()
# Check for episode control commands from misc_keys_queue # Check for episode control commands from misc_keys_queue
terminate_episode = False terminate_episode = False
success = False success = False