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from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.record import record_loop
from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
NUM_EPISODES = 3
FPS = 30
EPISODE_TIME_SEC = 30
RESET_TIME_SEC = 10
TASK_DESCRIPTION = "My task description"
# Create the robot and teleoperator configurations
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
keyboard_config = KeyboardTeleopConfig()
robot = LeKiwiClient(robot_config)
leader_arm = SO100Leader(leader_arm_config)
keyboard = KeyboardTeleop(keyboard_config)
# Configure the dataset features
action_features = hw_to_dataset_features(robot.action_features, "action")
obs_features = hw_to_dataset_features(robot.observation_features, "observation")
dataset_features = {**action_features, **obs_features}
# Create the dataset
dataset = LeRobotDataset.create(
repo_id="<hf_username>/<dataset_repo_id>",
fps=FPS,
features=dataset_features,
robot_type=robot.name,
use_videos=True,
image_writer_threads=4,
)
# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
robot.connect()
leader_arm.connect()
keyboard.connect()
_init_rerun(session_name="lekiwi_record")
listener, events = init_keyboard_listener()
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
raise ValueError("Robot, leader arm of keyboard is not connected!")
recorded_episodes = 0
while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
log_say(f"Recording episode {recorded_episodes}")
# Run the record loop
record_loop(
robot=robot,
events=events,
fps=FPS,
dataset=dataset,
teleop=[leader_arm, keyboard],
control_time_s=EPISODE_TIME_SEC,
single_task=TASK_DESCRIPTION,
display_data=True,
)
# Logic for reset env
if not events["stop_recording"] and (
(recorded_episodes < NUM_EPISODES - 1) or events["rerecord_episode"]
):
log_say("Reset the environment")
record_loop(
robot=robot,
events=events,
fps=FPS,
teleop=[leader_arm, keyboard],
control_time_s=RESET_TIME_SEC,
single_task=TASK_DESCRIPTION,
display_data=True,
)
if events["rerecord_episode"]:
log_say("Re-record episode")
events["rerecord_episode"] = False
events["exit_early"] = False
dataset.clear_episode_buffer()
continue
dataset.save_episode()
recorded_episodes += 1
# Upload to hub and clean up
dataset.push_to_hub()
robot.disconnect()
leader_arm.disconnect()
keyboard.disconnect()
listener.stop()
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