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[pre-commit.ci] auto fixes from pre-commit.com hooks

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for more information, see https://pre-commit.ci
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pre-commit-ci[bot]
2025-03-24 13:16:38 +00:00
committed by Michel Aractingi
parent cdcf346061
commit 1c8daf11fd
95 changed files with 1592 additions and 491 deletions
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40
lerobot/scripts/control_robot.py
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@@ -161,7 +161,6 @@ from lerobot.common.robot_devices.control_utils import (
log_control_info,
record_episode,
reset_environment,
reset_follower_position,
sanity_check_dataset_name,
sanity_check_dataset_robot_compatibility,
stop_recording,
@@ -256,7 +255,8 @@ def record(
if len(robot.cameras) > 0:
dataset.start_image_writer(
num_processes=cfg.num_image_writer_processes,
num_threads=cfg.num_image_writer_threads_per_camera * len(robot.cameras),
num_threads=cfg.num_image_writer_threads_per_camera
* len(robot.cameras),
)
sanity_check_dataset_robot_compatibility(dataset, robot, cfg.fps, cfg.video)
else:
@@ -269,14 +269,19 @@ def record(
robot=robot,
use_videos=cfg.video,
image_writer_processes=cfg.num_image_writer_processes,
image_writer_threads=cfg.num_image_writer_threads_per_camera * len(robot.cameras),
image_writer_threads=cfg.num_image_writer_threads_per_camera
* len(robot.cameras),
)
# Load pretrained policy
policy = None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)
policy = (
None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)
)
# Load pretrained policy
policy = None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)
policy = (
None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)
)
if not robot.is_connected:
robot.connect()
@@ -291,7 +296,14 @@ def record(
# 3. place the cameras windows on screen
enable_teleoperation = policy is None
log_say("Warmup record", cfg.play_sounds)
warmup_record(robot, events, enable_teleoperation, cfg.warmup_time_s, cfg.display_data, cfg.fps)
warmup_record(
robot,
events,
enable_teleoperation,
cfg.warmup_time_s,
cfg.display_data,
cfg.fps,
)
if has_method(robot, "teleop_safety_stop"):
robot.teleop_safety_stop()
@@ -376,7 +388,9 @@ def replay(
log_control_info(robot, dt_s, fps=cfg.fps)
def _init_rerun(control_config: ControlConfig, session_name: str = "lerobot_control_loop") -> None:
def _init_rerun(
control_config: ControlConfig, session_name: str = "lerobot_control_loop"
) -> None:
"""Initializes the Rerun SDK for visualizing the control loop.
Args:
@@ -422,17 +436,23 @@ def control_robot(cfg: ControlPipelineConfig):
if isinstance(cfg.control, CalibrateControlConfig):
calibrate(robot, cfg.control)
elif isinstance(cfg.control, TeleoperateControlConfig):
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_teleop")
_init_rerun(
control_config=cfg.control, session_name="lerobot_control_loop_teleop"
)
teleoperate(robot, cfg.control)
elif isinstance(cfg.control, RecordControlConfig):
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_record")
_init_rerun(
control_config=cfg.control, session_name="lerobot_control_loop_record"
)
record(robot, cfg.control)
elif isinstance(cfg.control, ReplayControlConfig):
replay(robot, cfg.control)
elif isinstance(cfg.control, RemoteRobotConfig):
from lerobot.common.robot_devices.robots.lekiwi_remote import run_lekiwi
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_remote")
_init_rerun(
control_config=cfg.control, session_name="lerobot_control_loop_remote"
)
run_lekiwi(cfg.robot)
if robot.is_connected: