143 lines
4.3 KiB
Python
143 lines
4.3 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import logging
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import os
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import sys
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import time
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from queue import Queue
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import numpy as np
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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from ..teleoperator import Teleoperator
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from .configuration_keyboard import KeyboardTeleopConfig
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PYNPUT_AVAILABLE = True
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try:
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if ("DISPLAY" not in os.environ) and ("linux" in sys.platform):
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logging.info("No DISPLAY set. Skipping pynput import.")
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raise ImportError("pynput blocked intentionally due to no display.")
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from pynput import keyboard
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except ImportError:
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keyboard = None
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PYNPUT_AVAILABLE = False
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except Exception as e:
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keyboard = None
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PYNPUT_AVAILABLE = False
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logging.info(f"Could not import pynput: {e}")
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class KeyboardTeleop(Teleoperator):
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"""
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Teleop class to use keyboard inputs for control.
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"""
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config_class = KeyboardTeleopConfig
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name = "keyboard"
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def __init__(self, config: KeyboardTeleopConfig):
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super().__init__(config)
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self.config = config
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self.robot_type = config.type
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self.event_queue = Queue()
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self.current_pressed = {}
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self.listener = None
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self.is_connected = False
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self.logs = {}
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@property
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def action_feature(self) -> dict:
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return {
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"dtype": "float32",
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"shape": (len(self.arm),),
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"names": {"motors": list(self.arm.motors)},
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}
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@property
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def feedback_feature(self) -> dict:
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return {}
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def connect(self) -> None:
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if self.is_connected:
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raise DeviceAlreadyConnectedError(
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"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
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)
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if PYNPUT_AVAILABLE:
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logging.info("pynput is available - enabling local keyboard listener.")
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self.listener = keyboard.Listener(
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on_press=self.on_press,
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on_release=self.on_release,
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)
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self.listener.start()
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else:
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logging.info("pynput not available - skipping local keyboard listener.")
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self.listener = None
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self.is_connected = True
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def calibrate(self) -> None:
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pass
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def on_press(self, key):
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if hasattr(key, "char"):
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self.event_queue.put((key.char, True))
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def on_release(self, key):
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if hasattr(key, "char"):
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self.event_queue.put((key.char, False))
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if key == keyboard.Key.esc:
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logging.info("ESC pressed, disconnecting.")
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self.disconnect()
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def _drain_pressed_keys(self):
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while not self.event_queue.empty():
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key_char, is_pressed = self.event_queue.get_nowait()
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self.current_pressed[key_char] = is_pressed
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def get_action(self) -> np.ndarray:
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before_read_t = time.perf_counter()
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if not self.is_connected:
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raise DeviceNotConnectedError(
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"KeyboardTeleop is not connected. You need to run `connect()` before `get_action()`."
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)
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self._drain_pressed_keys()
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# Generate action based on current key states
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action = {key for key, val in self.current_pressed.items() if val}
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self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
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return np.array(list(action))
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def send_feedback(self, feedback: np.ndarray) -> None:
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pass
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def disconnect(self) -> None:
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if not self.is_connected:
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raise DeviceNotConnectedError(
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"KeyboardTeleop is not connected. You need to run `robot.connect()` before `disconnect()`."
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)
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if self.listener is not None:
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self.listener.stop()
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self.is_connected = False
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