test dagger

src/lerobot/rollout/configs.py

@@ -96,8 +96,8 @@ class DAggerKeyboardConfig:
     """
 
     pause_resume: str = "space"
-    correction: str = "c"
+    correction: str = "tab"
-    upload: str = "h"
+    upload: str = "enter"
 
 
 @dataclass

src/lerobot/rollout/context.py

@@ -236,15 +236,17 @@ def build_rollout_context(
 
     # DAgger requires teleop with motor control capabilities (enable_torque,
     # disable_torque, write_goal_positions).
-    if isinstance(cfg.strategy, DAggerStrategyConfig) and teleop is not None:
+    # TODO(Steven): either enforce this (meaning all teleop must implement these methods) or
-        required_teleop_methods = ("enable_torque", "disable_torque", "write_goal_positions")
+    # user is responsible for moving the teleop to the same position as the robot when starting the correction.
-        missing = [m for m in required_teleop_methods if not callable(getattr(teleop, m, None))]
+    # if isinstance(cfg.strategy, DAggerStrategyConfig) and teleop is not None:
-        if missing:
+    #     required_teleop_methods = ("enable_torque", "disable_torque", "write_goal_positions")
-            teleop.disconnect()
+    #     missing = [m for m in required_teleop_methods if not callable(getattr(teleop, m, None))]
-            raise ValueError(
+    #     if missing:
-                f"DAgger strategy requires a teleoperator with motor control methods "
+    #         teleop.disconnect()
-                f"{required_teleop_methods}. '{type(teleop).__name__}' is missing: {missing}"
+    #         raise ValueError(
-            )
+    #             f"DAgger strategy requires a teleoperator with motor control methods "
+    #             f"{required_teleop_methods}. '{type(teleop).__name__}' is missing: {missing}"
+    #         )
 
     # --- 4. Features + action-key reconciliation ---------------------
     all_obs_features = robot.observation_features

src/lerobot/rollout/strategies/dagger.py

@@ -165,7 +165,8 @@ class DAggerEvents:
 # Teleoperator helpers
 # ---------------------------------------------------------------------------
 
-
+# TODO(Steven): either enforce this (meaning all teleop must implement these methods) or
+# user is responsible for moving the teleop to the same position as the robot when starting the correction.
 def _teleop_smooth_move_to(
     teleop: Teleoperator, target_pos: dict, duration_s: float = 2.0, fps: int = 50
 ) -> None:
@@ -375,7 +376,9 @@ class DAggerStrategy(RolloutStrategy):
         engine.reset()
         interpolator.reset()
         events.reset()
-        teleop.disable_torque()
+        # TODO(Steven): either enforce this (meaning all teleop must implement these methods) or
+        # user is responsible for moving the teleop to the same position as the robot when starting the correction.
+        # teleop.disable_torque()
         engine.resume()
 
         last_action: dict[str, Any] | None = None
@@ -469,7 +472,9 @@ class DAggerStrategy(RolloutStrategy):
 
             finally:
                 engine.pause()
-                teleop.disable_torque()
+                # TODO(Steven): either enforce this (meaning all teleop must implement these methods) or
+                # user is responsible for moving the teleop to the same position as the robot when starting the correction.
+                # teleop.disable_torque()
                 with contextlib.suppress(Exception):
                     with self._episode_lock:
                         dataset.save_episode()
@@ -503,7 +508,9 @@ class DAggerStrategy(RolloutStrategy):
         engine.reset()
         interpolator.reset()
         events.reset()
-        teleop.disable_torque()
+        # TODO(Steven): either enforce this (meaning all teleop must implement these methods) or
+        # user is responsible for moving the teleop to the same position as the robot when starting the correction.
+        # teleop.disable_torque()
         engine.resume()
 
         last_action: dict[str, Any] | None = None
@@ -586,7 +593,9 @@ class DAggerStrategy(RolloutStrategy):
 
             finally:
                 engine.pause()
-                teleop.disable_torque()
+                # TODO(Steven): either enforce this (meaning all teleop must implement these methods) or
+                # user is responsible for moving the teleop to the same position as the robot when starting the correction.
+                # teleop.disable_torque()
                 with contextlib.suppress(Exception):
                     with self._episode_lock:
                         dataset.save_episode()
@@ -609,13 +618,18 @@ class DAggerStrategy(RolloutStrategy):
         if old_phase == DAggerPhase.AUTONOMOUS and new_phase == DAggerPhase.PAUSED:
             engine.pause()
             obs = robot.get_observation()
-            robot_pos = {
+            _robot_pos = {
                 k: v for k, v in obs.items() if k.endswith(".pos") and k in robot.observation_features
             }
-            _teleop_smooth_move_to(teleop, robot_pos, duration_s=2.0, fps=50)
+            # TODO(Steven): either enforce this (meaning all teleop must implement these methods) or
+            # user is responsible for moving the teleop to the same position as the robot when starting the correction.
+            # _teleop_smooth_move_to(teleop, robot_pos, duration_s=2.0, fps=50)
 
         elif new_phase == DAggerPhase.CORRECTING:
-            teleop.disable_torque()
+            # TODO(Steven): either enforce this (meaning all teleop must implement these methods) or
+            # user is responsible for moving the teleop to the same position as the robot when starting the correction.
+            # teleop.disable_torque()
+            pass
 
         elif new_phase == DAggerPhase.AUTONOMOUS:
             interpolator.reset()