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

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pre-commit-ci[bot]
2025-03-04 13:38:47 +00:00
parent d8a1758122
commit 584cad808e
108 changed files with 3894 additions and 1189 deletions
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58
lerobot/scripts/control_robot.py
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@@ -118,7 +118,12 @@ from lerobot.common.robot_devices.control_utils import (
from lerobot.common.robot_devices.robots.factory import make_robot
from lerobot.common.robot_devices.robots.utils import Robot
from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect
from lerobot.common.utils.utils import init_hydra_config, init_logging, log_say, none_or_int
from lerobot.common.utils.utils import (
init_hydra_config,
init_logging,
log_say,
none_or_int,
)
########################################################################################
# Control modes
@@ -173,7 +178,10 @@ def calibrate(robot: Robot, arms: list[str] | None):
@safe_disconnect
def teleoperate(
robot: Robot, fps: int | None = None, teleop_time_s: float | None = None, display_cameras: bool = False
robot: Robot,
fps: int | None = None,
teleop_time_s: float | None = None,
display_cameras: bool = False,
):
control_loop(
robot,
@@ -234,11 +242,15 @@ def record(
# Load pretrained policy
if pretrained_policy_name_or_path is not None:
policy, policy_fps, device, use_amp = init_policy(pretrained_policy_name_or_path, policy_overrides)
policy, policy_fps, device, use_amp = init_policy(
pretrained_policy_name_or_path, policy_overrides
)
if fps is None:
fps = policy_fps
logging.warning(f"No fps provided, so using the fps from policy config ({policy_fps}).")
logging.warning(
f"No fps provided, so using the fps from policy config ({policy_fps})."
)
elif fps != policy_fps:
logging.warning(
f"There is a mismatch between the provided fps ({fps}) and the one from policy config ({policy_fps})."
@@ -254,7 +266,9 @@ def record(
num_processes=num_image_writer_processes,
num_threads=num_image_writer_threads_per_camera * len(robot.cameras),
)
sanity_check_dataset_robot_compatibility(dataset, robot, fps, video, extra_features)
sanity_check_dataset_robot_compatibility(
dataset, robot, fps, video, extra_features
)
else:
# Create empty dataset or load existing saved episodes
sanity_check_dataset_name(repo_id, policy)
@@ -265,7 +279,8 @@ def record(
robot=robot,
use_videos=video,
image_writer_processes=num_image_writer_processes,
image_writer_threads=num_image_writer_threads_per_camera * len(robot.cameras),
image_writer_threads=num_image_writer_threads_per_camera
* len(robot.cameras),
features=extra_features,
)
@@ -282,7 +297,9 @@ def record(
# 3. place the cameras windows on screen
enable_teleoperation = policy is None
log_say("Warmup record", play_sounds)
warmup_record(robot, events, enable_teleoperation, warmup_time_s, display_cameras, fps)
warmup_record(
robot, events, enable_teleoperation, warmup_time_s, display_cameras, fps
)
if has_method(robot, "teleop_safety_stop"):
robot.teleop_safety_stop()
@@ -365,7 +382,9 @@ def replay(
# TODO(rcadene, aliberts): refactor with control_loop, once `dataset` is an instance of LeRobotDataset
# TODO(rcadene): Add option to record logs
dataset = LeRobotDataset(repo_id, root=root, episodes=[episode], local_files_only=local_files_only)
dataset = LeRobotDataset(
repo_id, root=root, episodes=[episode], local_files_only=local_files_only
)
actions = dataset.hf_dataset.select_columns("action")
if not robot.is_connected:
robot.connect()
@@ -416,7 +435,10 @@ if __name__ == "__main__":
parser_teleop = subparsers.add_parser("teleoperate", parents=[base_parser])
parser_teleop.add_argument(
"--fps", type=none_or_int, default=None, help="Frames per second (set to None to disable)"
"--fps",
type=none_or_int,
default=None,
help="Frames per second (set to None to disable)",
)
parser_teleop.add_argument(
"--display-cameras",
@@ -428,7 +450,10 @@ if __name__ == "__main__":
parser_record = subparsers.add_parser("record", parents=[base_parser])
task_args = parser_record.add_mutually_exclusive_group(required=True)
parser_record.add_argument(
"--fps", type=none_or_int, default=None, help="Frames per second (set to None to disable)"
"--fps",
type=none_or_int,
default=None,
help="Frames per second (set to None to disable)",
)
task_args.add_argument(
"--single-task",
@@ -477,7 +502,9 @@ if __name__ == "__main__":
default=60,
help="Number of seconds for resetting the environment after each episode.",
)
parser_record.add_argument("--num-episodes", type=int, default=50, help="Number of episodes to record.")
parser_record.add_argument(
"--num-episodes", type=int, default=50, help="Number of episodes to record."
)
parser_record.add_argument(
"--run-compute-stats",
type=int,
@@ -559,7 +586,10 @@ if __name__ == "__main__":
parser_replay = subparsers.add_parser("replay", parents=[base_parser])
parser_replay.add_argument(
"--fps", type=none_or_int, default=None, help="Frames per second (set to None to disable)"
"--fps",
type=none_or_int,
default=None,
help="Frames per second (set to None to disable)",
)
parser_replay.add_argument(
"--root",
@@ -585,7 +615,9 @@ if __name__ == "__main__":
default=0,
help="Enables the replay of delta actions instead of absolute actions.",
)
parser_replay.add_argument("--episode", type=int, default=0, help="Index of the episode to replay.")
parser_replay.add_argument(
"--episode", type=int, default=0, help="Index of the episode to replay."
)
args = parser.parse_args()