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feat(utils): display-independent keyboard controls for recording (Wayland / headless / macOS) (#3875)

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* feat(utils): headless keyboard control

* refactor(utils): consolidate keyboard listener creation

* fix(rollout): remove import require guard for pynput

---------

Co-authored-by: Leo Toff <leo@toff.dev>
Co-authored-by: Stefano Maestri <stefano.maestri@javalinux.it>
Co-authored-by: Sahil Chande <85823961+SahilChande@users.noreply.github.com>
Co-authored-by: Vinayak Agarwal <63502278+Vinayak-Agarwal-2004@users.noreply.github.com>
Co-authored-by: Abdul Rahim Mirani <abdulrahimmirani@gmail.com>
This commit is contained in:
Steven Palma
2026-06-25 10:58:39 +02:00
committed by GitHub
parent 508d18f8a1
commit b4e454c0ff
17 changed files with 758 additions and 220 deletions
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examples/lekiwi/evaluate.py
+2 -1
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@@ -17,7 +17,7 @@
import logging
import time
from lerobot.common.control_utils import init_keyboard_listener, predict_action
from lerobot.common.control_utils import predict_action
from lerobot.datasets import LeRobotDataset
from lerobot.policies import make_pre_post_processors
from lerobot.policies.act import ACTPolicy
@@ -26,6 +26,7 @@ from lerobot.processor import make_default_processors
from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.feature_utils import build_dataset_frame, hw_to_dataset_features
from lerobot.utils.keyboard_input import init_keyboard_listener
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
examples/lekiwi/record.py
+1 -1
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@@ -14,7 +14,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.
from lerobot.common.control_utils import init_keyboard_listener
from lerobot.datasets import LeRobotDataset
from lerobot.processor import make_default_processors
from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
@@ -23,6 +22,7 @@ from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.feature_utils import hw_to_dataset_features
from lerobot.utils.keyboard_input import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun