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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/so100_to_so100_EE/evaluate.py
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@@ -18,7 +18,7 @@ import logging
import time
from lerobot.cameras.opencv import OpenCVCameraConfig
from lerobot.common.control_utils import init_keyboard_listener, predict_action
from lerobot.common.control_utils import predict_action
from lerobot.configs import FeatureType, PolicyFeature
from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
from lerobot.model.kinematics import RobotKinematics
@@ -41,6 +41,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
from lerobot.types import RobotAction, RobotObservation
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.feature_utils import build_dataset_frame, combine_feature_dicts
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