[QOL] Enable teleoperation during environment reset (#725)

lerobot/common/robot_devices/control_utils.py

@@ -12,7 +12,6 @@ from functools import cache
 
 import cv2
 import torch
-import tqdm
 from deepdiff import DeepDiff
 from termcolor import colored
 
@@ -276,24 +275,18 @@ def control_loop(
             break
 
 
-def reset_environment(robot, events, reset_time_s):
+def reset_environment(robot, events, reset_time_s, fps):
     # TODO(rcadene): refactor warmup_record and reset_environment
-    # TODO(alibets): allow for teleop during reset
     if has_method(robot, "teleop_safety_stop"):
         robot.teleop_safety_stop()
 
-    timestamp = 0
+    control_loop(
-    start_vencod_t = time.perf_counter()
+        robot=robot,
-
+        control_time_s=reset_time_s,
-    # Wait if necessary
+        events=events,
-    with tqdm.tqdm(total=reset_time_s, desc="Waiting") as pbar:
+        fps=fps,
-        while timestamp < reset_time_s:
+        teleoperate=True,
-            time.sleep(1)
+    )
-            timestamp = time.perf_counter() - start_vencod_t
-            pbar.update(1)
-            if events["exit_early"]:
-                events["exit_early"] = False
-                break
 
 
 def stop_recording(robot, listener, display_cameras):

lerobot/scripts/control_robot.py

@@ -299,7 +299,7 @@ def record(
             (recorded_episodes < cfg.num_episodes - 1) or events["rerecord_episode"]
         ):
             log_say("Reset the environment", cfg.play_sounds)
-            reset_environment(robot, events, cfg.reset_time_s)
+            reset_environment(robot, events, cfg.reset_time_s, cfg.fps)
 
         if events["rerecord_episode"]:
             log_say("Re-record episode", cfg.play_sounds)