Fix countdown_time inf bug

lerobot/common/robot_devices/control_context.py

@@ -56,7 +56,6 @@ def _initialize_state(self):
         if self.config.assign_rewards:
             self.events["next_reward"] = 0
 
-        self.pressed_keys = []
         self.current_episode_index = 0
 
         # Define the control instructions
@@ -182,6 +181,11 @@ def _publish_observations(self, observation: Dict[str, np.ndarray], log_items: l
             "current_episode": self.current_episode_index,
         }
 
+        # Sanitize countdown time. if inf set to max 32-bit int
+        countdown_time = int(countdown_time) if countdown_time != float("inf") else 2 ** 31 - 1
+        if self.config.control_phase == ControlPhase.TELEOPERATE:
+            countdown_time = 0
+
         message = {
             "type": "observation_update",
             "timestamp": time.time(),
@@ -214,7 +218,8 @@ def log_control_info(self, start_loop_t):
         return log_items
 
     def log_say(self, message):
-        self._publish_log_say(message)
+        # self._publish_log_say(message)
+        pass
 
     def _publish_log_say(self, message):
         message = {
@@ -250,7 +255,6 @@ def read_image_from_camera(cap):
         return torch.tensor(frame_rgb).float()
 
     config = ControlContextConfig(
-        display_cameras=False,
         assign_rewards=True,
         control_phase=ControlPhase.RECORD,
         num_episodes=200,
@@ -259,7 +263,7 @@ def read_image_from_camera(cap):
     context = ControlContext(config)
     context.update_current_episode(199)
 
-    cameras = {"main": cv2.VideoCapture(0), "top": cv2.VideoCapture(4), "web": cv2.VideoCapture(6)}
+    cameras = {"main": cv2.VideoCapture(0), "top": cv2.VideoCapture(4)}
 
     for name, cap in cameras.items():
         if not cap.isOpened():
@@ -282,7 +286,7 @@ def read_image_from_camera(cap):
             obs_dict[f"observation.images.{name}"] = images[name]
 
         # Update context with observations
-        context.update_with_observations(obs_dict)
+        context.update_with_observations(obs_dict, time.perf_counter(), countdown_time=10)
         events = context.get_events()
 
         if events["exit_early"]:

lerobot/scripts/browser_ui_server.py

@@ -1,9 +1,5 @@
 from flask import Flask, render_template
 from flask_socketio import SocketIO
-import cv2
-import numpy as np
-import base64
-import json
 import threading
 import time
 import zmq
@@ -37,9 +33,6 @@ def zmq_consumer():
     while True:
         try:
             message = subscriber_socket.recv_json()
-
-            message_type = message.get("type")
-            print(f"Received message: {message_type}")
 
             if message.get("type") == "observation_update":
                 processed_data = {
@@ -48,8 +41,8 @@ def zmq_consumer():
                     "state": {},
                     "events": message.get("events", {}),
                     "config": message.get("config", {}),
-                    "log_items": message.get("log_items", []),
-                    "countdown_time": message.get("countdown_time"),
+                    # "log_items": message.get("log_items", []),
+                    "countdown_time": message.get("countdown_time")
                 }
 
                 # Process observation data
@@ -69,8 +62,9 @@ def zmq_consumer():
                 latest_data["observation"].update(processed_data)
                 latest_data["config"].update(processed_data.get("config", {}))
 
-                # Emit the observation data to the browser
+                # # Emit the observation data to the browser
                 socketio.emit("observation_update", processed_data)
+
 
             elif message.get("type") == "config_update":
                 # Handle dedicated config updates
@@ -91,12 +85,9 @@ def zmq_consumer():
                     "message": data
                 })
 
-
         except Exception as e:
             print(f"ZMQ consumer error: {e}")
             time.sleep(1)
-
-        time.sleep(0.001)  # Small sleep to prevent busy-waiting
 
 
 @socketio.on("keydown_event")

lerobot/templates/browser_ui.html

@@ -5,7 +5,7 @@
   <title>Robot Observation Stream (Alpine.js Refactor - Dark Theme)</title>
 
   <!-- Socket.IO -->
-  <script src="https://cdnjs.cloudflare.com/ajax/libs/socket.io/4.0.1/socket.io.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/socket.io/4.8.1/socket.io.js"></script>
   <!-- Tailwind CSS -->
   <script src="https://cdn.tailwindcss.com"></script>
   <!-- Alpine.js -->
@@ -82,7 +82,6 @@
       <div
         id="cameras"
         class="grid grid-cols-1 md:grid-cols-2 gap-4"
-        x-show="configData.display_cameras"
       >
         <!-- Loop over images object -->
         <template x-for="(imageData, name) in images" :key="name">
@@ -215,7 +214,7 @@ <h3 class="text-lg font-semibold mb-4 text-gray-300">Logs</h3>
 
   <script>
     document.addEventListener('alpine:init', () => {
-      Alpine.data('LeRobot', () => ({
+      Alpine.data('robotApp', () => ({
         // Reactive state
         configData: {},
         stateData: {},
@@ -233,7 +232,14 @@ <h3 class="text-lg font-semibold mb-4 text-gray-300">Logs</h3>
         },
 
         initSocket() {
-          this.socket = io();
+            this.socket = io({
+                reconnection: true,
+                reconnectionAttempts: Infinity,      // Unlimited reconnection attempts
+                reconnectionDelay: 1000,             // Start with 1 second delay
+                reconnectionDelayMax: 5000,          // Max delay of 5 seconds
+                randomizationFactor: 0.5
+            });
+
           this.socket.on('connect', () => {
             console.log('Connected to server');
           });
@@ -261,7 +267,7 @@ <h3 class="text-lg font-semibold mb-4 text-gray-300">Logs</h3>
             if (data.log_items) {
               this.logs = data.log_items;
             }
-            if (data.images && this.configData.display_cameras) {
+            if (data.images) {
               this.images = data.images;
             }
             if (data.countdown_time !== undefined) {