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feat(scripts): lerobot-rollout

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This commit is contained in:
Steven Palma
2026-04-14 15:42:04 +02:00
committed by Steven Palma
parent 5c43fa1cce
commit bc06cb44ca
54 changed files with 5204 additions and 2816 deletions
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examples/lekiwi/record.py
+10 -9
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@@ -45,9 +45,6 @@ def main():
leader_arm = SO100Leader(leader_arm_config)
keyboard = KeyboardTeleop(keyboard_config)
# TODO(Steven): Update this example to use pipelines
teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
# Configure the dataset features
action_features = hw_to_dataset_features(robot.action_features, ACTION)
obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
@@ -77,6 +74,10 @@ def main():
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
raise ValueError("Robot or teleop is not connected!")
teleop_action_processor, robot_action_processor, robot_observation_processor = (
make_default_processors()
)
print("Starting record loop...")
recorded_episodes = 0
while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
@@ -87,14 +88,14 @@ def main():
robot=robot,
events=events,
fps=FPS,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
dataset=dataset,
teleop=[leader_arm, keyboard],
control_time_s=EPISODE_TIME_SEC,
single_task=TASK_DESCRIPTION,
display_data=True,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
)
# Reset the environment if not stopping or re-recording
@@ -106,13 +107,13 @@ def main():
robot=robot,
events=events,
fps=FPS,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
teleop=[leader_arm, keyboard],
control_time_s=RESET_TIME_SEC,
single_task=TASK_DESCRIPTION,
display_data=True,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
)
if events["rerecord_episode"]: