Extend reward classifier for multiple camera views (#626)

lerobot/scripts/control_robot.py

@@ -109,6 +109,7 @@ from lerobot.common.robot_devices.control_utils import (
     log_control_info,
     record_episode,
     reset_environment,
+    reset_follower_position,
     sanity_check_dataset_name,
     sanity_check_dataset_robot_compatibility,
     stop_recording,
@@ -205,6 +206,7 @@ def record(
     num_image_writer_threads_per_camera: int = 4,
     display_cameras: bool = True,
     play_sounds: bool = True,
+    reset_follower: bool = False, 
     resume: bool = False,
     # TODO(rcadene, aliberts): remove local_files_only when refactor with dataset as argument
     local_files_only: bool = False,
@@ -265,6 +267,9 @@ def record(
         robot.connect()
     listener, events = init_keyboard_listener(assign_rewards=assign_rewards)
 
+    if reset_follower:
+        initial_position = robot.follower_arms["main"].read("Present_Position")
+        
     # Execute a few seconds without recording to:
     # 1. teleoperate the robot to move it in starting position if no policy provided,
     # 2. give times to the robot devices to connect and start synchronizing,
@@ -307,6 +312,8 @@ def record(
             (dataset.num_episodes < num_episodes - 1) or events["rerecord_episode"]
         ):
             log_say("Reset the environment", play_sounds)
+            if reset_follower:
+                reset_follower_position(robot, initial_position)
             reset_environment(robot, events, reset_time_s)
 
         if events["rerecord_episode"]:
@@ -527,6 +534,12 @@ if __name__ == "__main__":
         default=0,
         help="Enables the assignation of rewards to frames (by default no assignation). When enabled, assign a 0 reward to frames until the space bar is pressed which assign a 1 reward. Press the space bar a second time to assign a 0 reward. The reward assigned is reset to 0 when the episode ends.",
     )
+    parser_record.add_argument(
+        "--reset-follower",
+        type=int,
+        default=0,
+        help="Resets the follower to the initial position during while reseting the evironment, this is to avoid having the follower start at an awkward position in the next episode",
+    )
 
     parser_replay = subparsers.add_parser("replay", parents=[base_parser])
     parser_replay.add_argument(