Skip to content

feat(record): settle before the first episode, and clarify the recording screen #106

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
cetiennec wants to merge 1 commit into
base: main
Choose a base branch
from
Open

feat(record): settle before the first episode, and clarify the recording screen #106

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3,958 changes: 0 additions & 3,958 deletions frontend/dist/assets/index-BX9JKcmw.js
View file
Open in desktop

This file was deleted.

1 change: 1 addition & 0 deletions frontend/dist/assets/index-BhoUX80z.css
View file
Open in desktop

Large diffs are not rendered by default.

3,958 changes: 3,958 additions & 0 deletions frontend/dist/assets/index-CLNRa419.js
View file
Open in desktop

Large diffs are not rendered by default.

1 change: 0 additions & 1 deletion frontend/dist/assets/index-DJuBJMLM.css
View file
Open in desktop

This file was deleted.

4 changes: 2 additions & 2 deletions frontend/dist/index.html
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,8 @@
<meta property="og:title" content="LeLab" />
<meta property="og:description" content="LeRobot but on your browser." />
<meta property="og:type" content="website" />
<script type="module" crossorigin src="/assets/index-BX9JKcmw.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-DJuBJMLM.css">
<script type="module" crossorigin src="/assets/index-CLNRa419.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BhoUX80z.css">
</head>

<body>
Expand Down
411 changes: 318 additions & 93 deletions frontend/src/pages/Recording.tsx
View file
Open in desktop

Large diffs are not rendered by default.

89 changes: 48 additions & 41 deletions lelab/record.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -782,7 +782,50 @@ def record_with_web_events(cfg: RecordConfig, web_events: dict) -> LeRobotDatase
# half-open device.
current_robot = robot

# Every phase below calls `record_loop` with the same devices and
# pipelines and only `dataset`/`control_time_s` varying — collect the
# shared part once so each call site states just what differs.
loop_kwargs = {
"robot": robot,
"events": web_events,
"fps": cfg.dataset.fps,
"teleop_action_processor": teleop_action_processor,
"robot_action_processor": robot_action_processor,
"robot_observation_processor": robot_observation_processor,
"teleop": teleop,
"single_task": cfg.dataset.single_task,
"display_data": cfg.display_data,
}

# Settle before the very first episode. Every later episode is already
# preceded by the reset phase at the bottom of this loop — the same
# non-recording stretch, with the arm still following the leader — but
# without this the first episode starts writing frames the moment the
# devices come up, while the user is still moving into position.
settled_in = False

while saved_episodes < cfg.dataset.num_episodes:
if not settled_in and cfg.dataset.reset_time_s > 0:
settled_in = True
current_phase = "resetting"
phase_start_time = time.time()
logger.info("Starting reset phase before the first episode")
print("🔄 STATUS CHANGE: Starting reset phase before the first episode")

log_say("Get ready", cfg.play_sounds)
web_events["exit_early"] = False

# NOTE: no dataset - nothing is recorded before episode 1.
record_loop(**loop_kwargs, control_time_s=cfg.dataset.reset_time_s)

if web_events["exit_early"]:
logger.info("🟡 RESET PHASE INTERRUPTED BY EXIT_EARLY - starting episode 1")
web_events["exit_early"] = False

if web_events["stop_recording"]:
logger.info("🛑 STOP RECORDING requested before the first episode - ending session")
break

# RECORDING PHASE - with dataset (matches original record.py exactly)
current_phase = "recording"
phase_start_time = time.time()
Expand All @@ -798,19 +841,7 @@ def record_with_web_events(cfg: RecordConfig, web_events: dict) -> LeRobotDatase
web_events["_exit_early_triggered"] = False
logger.info(f"Recording phase - calling record_loop with events: {web_events}")

record_loop(
robot=robot,
events=web_events,
fps=cfg.dataset.fps,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
teleop=teleop,
dataset=dataset,
control_time_s=cfg.dataset.episode_time_s,
single_task=cfg.dataset.single_task,
display_data=cfg.display_data,
)
record_loop(**loop_kwargs, dataset=dataset, control_time_s=cfg.dataset.episode_time_s)

logger.info(f"Recording phase completed - events state: {web_events}")

Expand Down Expand Up @@ -855,20 +886,8 @@ def record_with_web_events(cfg: RecordConfig, web_events: dict) -> LeRobotDatase
web_events["exit_early"] = False
logger.info(f"Reset phase - calling record_loop with events: {web_events}")

record_loop(
robot=robot,
events=web_events,
fps=cfg.dataset.fps,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
teleop=teleop,
# NOTE: NO dataset parameter here - matches LeRobot CLI exactly
# This means NO recording happens during reset phase
control_time_s=cfg.dataset.reset_time_s,
single_task=cfg.dataset.single_task,
display_data=cfg.display_data,
)
# NOTE: no dataset - matches LeRobot CLI exactly, nothing is recorded.
record_loop(**loop_kwargs, control_time_s=cfg.dataset.reset_time_s)

logger.info(f"Reset phase completed - events state: {web_events}")

Expand Down Expand Up @@ -925,20 +944,8 @@ def record_with_web_events(cfg: RecordConfig, web_events: dict) -> LeRobotDatase
web_events["exit_early"] = False
logger.info(f"Reset phase - calling record_loop with events: {web_events}")

record_loop(
robot=robot,
events=web_events,
fps=cfg.dataset.fps,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
teleop=teleop,
# NOTE: NO dataset parameter here - matches LeRobot CLI exactly
# This means NO recording happens during reset phase
control_time_s=cfg.dataset.reset_time_s,
single_task=cfg.dataset.single_task,
display_data=cfg.display_data,
)
# NOTE: no dataset - matches LeRobot CLI exactly, nothing is recorded.
record_loop(**loop_kwargs, control_time_s=cfg.dataset.reset_time_s)

logger.info(f"Reset phase completed - events state: {web_events}")

Expand Down
Loading