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chore(examples): remove pedal

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This commit is contained in:
Steven Palma
2026-02-23 11:37:29 +01:00
parent e011fcbad4
commit d3fb69e85b
1 changed files with 2 additions and 45 deletions
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examples/rac/hil_utils.py
+2 -45
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@@ -137,52 +137,9 @@ def init_keyboard_listener():
listener = keyboard.Listener(on_press=on_press)
listener.start()
start_pedal_listener(events)
return listener, events
def start_pedal_listener(events: dict):
"""Start foot pedal listener if evdev is available."""
import threading
try:
from evdev import InputDevice, categorize, ecodes
except ImportError:
logger.info("[Pedal] evdev not installed - pedal support disabled")
return
pedal_device = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
key_left, key_right = "KEY_A", "KEY_C"
def pedal_reader():
try:
dev = InputDevice(pedal_device)
print(f"[Pedal] Connected: {dev.name}")
for ev in dev.read_loop():
if ev.type != ecodes.EV_KEY:
continue
key = categorize(ev)
code = key.keycode[0] if isinstance(key.keycode, (list, tuple)) else key.keycode
if key.keystate != 1:
continue
if events["in_reset"]:
if code in [key_left, key_right]:
events["start_next_episode"] = True
else:
if code == key_right:
if events["correction_active"]:
events["exit_early"] = True
elif not events["policy_paused"]:
events["policy_paused"] = True
elif code == key_left and events["policy_paused"] and not events["correction_active"]:
events["start_next_episode"] = True
except (FileNotFoundError, PermissionError) as e:
logger.info(f"[Pedal] {e}")
threading.Thread(target=pedal_reader, daemon=True).start()
def make_identity_processors():
"""Create identity processors for recording."""
teleop_proc = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
@@ -211,7 +168,7 @@ def reset_loop(robot: Robot, teleop: Teleoperator, events: dict, fps: int):
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)
print(" Press any key/pedal to enable teleoperation")
print(" Press any key to enable teleoperation")
while not events["start_next_episode"] and not events["stop_recording"]:
precise_sleep(0.05)
@@ -220,7 +177,7 @@ def reset_loop(robot: Robot, teleop: Teleoperator, events: dict, fps: int):
events["start_next_episode"] = False
teleop_disable_torque(teleop)
print(" Teleop enabled - press any key/pedal to start episode")
print(" Teleop enabled - press any key to start episode")
while not events["start_next_episode"] and not events["stop_recording"]:
loop_start = time.perf_counter()