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

for more information, see https://pre-commit.ci

lerobot/common/robot_devices/cameras/configs.py

@@ -57,7 +57,9 @@ class OpenCVCameraConfig(CameraConfig):
         self.channels = 3
 
         if self.rotation not in [-90, None, 90, 180]:
-            raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
+            raise ValueError(
+                f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})"
+            )
 
 
 @CameraConfig.register_subclass("intelrealsense")
@@ -102,8 +104,12 @@ class IntelRealSenseCameraConfig(CameraConfig):
 
         self.channels = 3
 
-        at_least_one_is_not_none = self.fps is not None or self.width is not None or self.height is not None
-        at_least_one_is_none = self.fps is None or self.width is None or self.height is None
+        at_least_one_is_not_none = (
+            self.fps is not None or self.width is not None or self.height is not None
+        )
+        at_least_one_is_none = (
+            self.fps is None or self.width is None or self.height is None
+        )
         if at_least_one_is_not_none and at_least_one_is_none:
             raise ValueError(
                 "For `fps`, `width` and `height`, either all of them need to be set, or none of them, "
@@ -111,4 +117,6 @@ class IntelRealSenseCameraConfig(CameraConfig):
             )
 
         if self.rotation not in [-90, None, 90, 180]:
-            raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
+            raise ValueError(
+                f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})"
+            )

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -303,7 +303,11 @@ class IntelRealSenseCamera:
         if self.fps and self.capture_width and self.capture_height:
             # TODO(rcadene): can we set rgb8 directly?
             config.enable_stream(
-                rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
+                rs.stream.color,
+                self.capture_width,
+                self.capture_height,
+                rs.format.rgb8,
+                self.fps,
             )
         else:
             config.enable_stream(rs.stream.color)
@@ -311,7 +315,11 @@ class IntelRealSenseCamera:
         if self.use_depth:
             if self.fps and self.capture_width and self.capture_height:
                 config.enable_stream(
-                    rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
+                    rs.stream.depth,
+                    self.capture_width,
+                    self.capture_height,
+                    rs.format.z16,
+                    self.fps,
                 )
             else:
                 config.enable_stream(rs.stream.depth)

lerobot/common/robot_devices/cameras/opencv.py

@@ -144,7 +144,9 @@ def save_images_from_cameras(
     print("Connecting cameras")
     cameras = []
     for cam_idx in camera_ids:
-        config = OpenCVCameraConfig(camera_index=cam_idx, fps=fps, width=width, height=height, mock=mock)
+        config = OpenCVCameraConfig(
+            camera_index=cam_idx, fps=fps, width=width, height=height, mock=mock
+        )
         camera = OpenCVCamera(config)
         camera.connect()
         print(
@@ -250,7 +252,9 @@ class OpenCVCamera:
                 # Retrieve the camera index from a potentially symlinked path
                 self.camera_index = get_camera_index_from_unix_port(self.port)
             else:
-                raise ValueError(f"Please check the provided camera_index: {self.camera_index}")
+                raise ValueError(
+                    f"Please check the provided camera_index: {self.camera_index}"
+                )
 
         # Store the raw (capture) resolution from the config.
         self.capture_width = config.width
@@ -314,7 +318,11 @@ class OpenCVCamera:
             else cv2.CAP_ANY
         )
 
-        camera_idx = f"/dev/video{self.camera_index}" if platform.system() == "Linux" else self.camera_index
+        camera_idx = (
+            f"/dev/video{self.camera_index}"
+            if platform.system() == "Linux"
+            else self.camera_index
+        )
         # First create a temporary camera trying to access `camera_index`,
         # and verify it is a valid camera by calling `isOpened`.
         tmp_camera = cv2.VideoCapture(camera_idx, backend)

lerobot/common/robot_devices/cameras/utils.py

@@ -41,7 +41,9 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[C
             cameras[key] = OpenCVCamera(cfg)
 
         elif cfg.type == "intelrealsense":
-            from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
+            from lerobot.common.robot_devices.cameras.intelrealsense import (
+                IntelRealSenseCamera,
+            )
 
             cameras[key] = IntelRealSenseCamera(cfg)
         else:
@@ -58,7 +60,9 @@ def make_camera(camera_type, **kwargs) -> Camera:
         return OpenCVCamera(config)
 
     elif camera_type == "intelrealsense":
-        from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
+        from lerobot.common.robot_devices.cameras.intelrealsense import (
+            IntelRealSenseCamera,
+        )
 
         config = IntelRealSenseCameraConfig(**kwargs)
         return IntelRealSenseCamera(config)

lerobot/common/robot_devices/control_configs.py

@@ -93,7 +93,9 @@ class RecordControlConfig(ControlConfig):
         policy_path = parser.get_path_arg("control.policy")
         if policy_path:
             cli_overrides = parser.get_cli_overrides("control.policy")
-            self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
+            self.policy = PreTrainedConfig.from_pretrained(
+                policy_path, cli_overrides=cli_overrides
+            )
             self.policy.pretrained_path = policy_path
 
 

lerobot/common/robot_devices/control_utils.py

@@ -282,7 +282,10 @@ def control_loop(
 
             if policy is not None:
                 pred_action = predict_action(
-                    observation, policy, get_safe_torch_device(policy.config.device), policy.config.use_amp
+                    observation,
+                    policy,
+                    get_safe_torch_device(policy.config.device),
+                    policy.config.use_amp,
                 )
                 # Action can eventually be clipped using `max_relative_target`,
                 # so action actually sent is saved in the dataset.

lerobot/common/robot_devices/motors/dynamixel.py

@@ -23,7 +23,10 @@ import numpy as np
 import tqdm
 
 from lerobot.common.robot_devices.motors.configs import DynamixelMotorsBusConfig
-from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from lerobot.common.robot_devices.utils import (
+    RobotDeviceAlreadyConnectedError,
+    RobotDeviceNotConnectedError,
+)
 from lerobot.common.utils.utils import capture_timestamp_utc
 
 PROTOCOL_VERSION = 2.0

lerobot/common/robot_devices/motors/feetech.py

@@ -23,7 +23,10 @@ import numpy as np
 import tqdm
 
 from lerobot.common.robot_devices.motors.configs import FeetechMotorsBusConfig
-from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from lerobot.common.robot_devices.utils import (
+    RobotDeviceAlreadyConnectedError,
+    RobotDeviceNotConnectedError,
+)
 from lerobot.common.utils.utils import capture_timestamp_utc
 
 PROTOCOL_VERSION = 0

lerobot/common/robot_devices/motors/utils.py

@@ -30,7 +30,9 @@ class MotorsBus(Protocol):
     def write(self): ...
 
 
-def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig]) -> list[MotorsBus]:
+def make_motors_buses_from_configs(
+    motors_bus_configs: dict[str, MotorsBusConfig],
+) -> list[MotorsBus]:
     motors_buses = {}
 
     for key, cfg in motors_bus_configs.items():

lerobot/common/robot_devices/robots/configs.py

@@ -69,9 +69,13 @@ class ManipulatorRobotConfig(RobotConfig):
                 if not cam.mock:
                     cam.mock = True
 
-        if self.max_relative_target is not None and isinstance(self.max_relative_target, Sequence):
+        if self.max_relative_target is not None and isinstance(
+            self.max_relative_target, Sequence
+        ):
             for name in self.follower_arms:
-                if len(self.follower_arms[name].motors) != len(self.max_relative_target):
+                if len(self.follower_arms[name].motors) != len(
+                    self.max_relative_target
+                ):
                     raise ValueError(
                         f"len(max_relative_target)={len(self.max_relative_target)} but the follower arm with name {name} has "
                         f"{len(self.follower_arms[name].motors)} motors. Please make sure that the "

lerobot/common/robot_devices/robots/lekiwi_remote.py

@@ -42,7 +42,9 @@ def run_camera_capture(cameras, images_lock, latest_images_dict, stop_event):
         local_dict = {}
         for name, cam in cameras.items():
             frame = cam.async_read()
-            ret, buffer = cv2.imencode(".jpg", frame, [int(cv2.IMWRITE_JPEG_QUALITY), 90])
+            ret, buffer = cv2.imencode(
+                ".jpg", frame, [int(cv2.IMWRITE_JPEG_QUALITY), 90]
+            )
             if ret:
                 local_dict[name] = base64.b64encode(buffer).decode("utf-8")
             else:
@@ -61,7 +63,9 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
     calib_dir.mkdir(parents=True, exist_ok=True)
     calib_file = calib_dir / "main_follower.json"
     try:
-        from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration
+        from lerobot.common.robot_devices.robots.feetech_calibration import (
+            run_arm_manual_calibration,
+        )
     except ImportError:
         print("[WARNING] Calibration function not available. Skipping calibration.")
         return
@@ -72,7 +76,9 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
         print(f"[INFO] Loaded calibration from {calib_file}")
     else:
         print("[INFO] Calibration file not found. Running manual calibration...")
-        calibration = run_arm_manual_calibration(motors_bus, "lekiwi", "follower_arm", "follower")
+        calibration = run_arm_manual_calibration(
+            motors_bus, "lekiwi", "follower_arm", "follower"
+        )
         print(f"[INFO] Calibration complete. Saving to {calib_file}")
         with open(calib_file, "w") as f:
             json.dump(calibration, f)
@@ -116,7 +122,14 @@ def run_lekiwi(robot_config):
     robot = LeKiwi(motors_bus)
 
     # Define the expected arm motor IDs.
-    arm_motor_ids = ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]
+    arm_motor_ids = [
+        "shoulder_pan",
+        "shoulder_lift",
+        "elbow_flex",
+        "wrist_flex",
+        "wrist_roll",
+        "gripper",
+    ]
 
     # Disable torque for each arm motor.
     for motor in arm_motor_ids:
@@ -130,7 +143,9 @@ def run_lekiwi(robot_config):
     images_lock = threading.Lock()
     stop_event = threading.Event()
     cam_thread = threading.Thread(
-        target=run_camera_capture, args=(cameras, images_lock, latest_images_dict, stop_event), daemon=True
+        target=run_camera_capture,
+        args=(cameras, images_lock, latest_images_dict, stop_event),
+        daemon=True,
     )
     cam_thread.start()
 
@@ -159,7 +174,9 @@ def run_lekiwi(robot_config):
                                 f"[WARNING] Received {len(arm_positions)} arm positions, expected {len(arm_motor_ids)}"
                             )
                         else:
-                            for motor, pos in zip(arm_motor_ids, arm_positions, strict=False):
+                            for motor, pos in zip(
+                                arm_motor_ids, arm_positions, strict=False
+                            ):
                                 motors_bus.write("Goal_Position", pos, motor)
                     # Process wheel (base) commands.
                     if "raw_velocity" in data:
@@ -190,7 +207,9 @@ def run_lekiwi(robot_config):
                 try:
                     pos = motors_bus.read("Present_Position", motor)
                     # Convert the position to a float (or use as is if already numeric).
-                    follower_arm_state.append(float(pos) if not isinstance(pos, (int, float)) else pos)
+                    follower_arm_state.append(
+                        float(pos) if not isinstance(pos, (int, float)) else pos
+                    )
                 except Exception as e:
                     print(f"[ERROR] Reading motor {motor} failed: {e}")
 

lerobot/common/robot_devices/robots/manipulator.py

@@ -28,7 +28,10 @@ import numpy as np
 import torch
 
 from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
-from lerobot.common.robot_devices.motors.utils import MotorsBus, make_motors_buses_from_configs
+from lerobot.common.robot_devices.motors.utils import (
+    MotorsBus,
+    make_motors_buses_from_configs,
+)
 from lerobot.common.robot_devices.robots.configs import ManipulatorRobotConfig
 from lerobot.common.robot_devices.robots.utils import get_arm_id
 from lerobot.common.robot_devices.utils import (

lerobot/common/robot_devices/robots/mobile_manipulator.py

@@ -25,9 +25,14 @@ import zmq
 
 from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
 from lerobot.common.robot_devices.motors.feetech import TorqueMode
-from lerobot.common.robot_devices.motors.utils import MotorsBus, make_motors_buses_from_configs
+from lerobot.common.robot_devices.motors.utils import (
+    MotorsBus,
+    make_motors_buses_from_configs,
+)
 from lerobot.common.robot_devices.robots.configs import LeKiwiRobotConfig
-from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration
+from lerobot.common.robot_devices.robots.feetech_calibration import (
+    run_arm_manual_calibration,
+)
 from lerobot.common.robot_devices.robots.utils import get_arm_id
 from lerobot.common.robot_devices.utils import RobotDeviceNotConnectedError
 
@@ -266,7 +271,9 @@ class MobileManipulator:
                 calibration = json.load(f)
         else:
             print(f"Missing calibration file '{arm_calib_path}'")
-            calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
+            calibration = run_arm_manual_calibration(
+                arm, self.robot_type, name, arm_type
+            )
             print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
             arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
             with open(arm_calib_path, "w") as f:
@@ -296,7 +303,9 @@ class MobileManipulator:
                 bus.write("Torque_Enable", 0, motor_id)
 
             # Then filter out wheels
-            arm_only_dict = {k: v for k, v in bus.motors.items() if not k.startswith("wheel_")}
+            arm_only_dict = {
+                k: v for k, v in bus.motors.items() if not k.startswith("wheel_")
+            }
             if not arm_only_dict:
                 continue
 
@@ -324,7 +333,11 @@ class MobileManipulator:
         socks = dict(poller.poll(15))
         if self.video_socket not in socks or socks[self.video_socket] != zmq.POLLIN:
             # No new data arrived → reuse ALL old data
-            return (self.last_frames, self.last_present_speed, self.last_remote_arm_state)
+            return (
+                self.last_frames,
+                self.last_present_speed,
+                self.last_remote_arm_state,
+            )
 
         # Drain all messages, keep only the last
         last_msg = None
@@ -337,7 +350,11 @@ class MobileManipulator:
 
         if not last_msg:
             # No new message → also reuse old
-            return (self.last_frames, self.last_present_speed, self.last_remote_arm_state)
+            return (
+                self.last_frames,
+                self.last_present_speed,
+                self.last_remote_arm_state,
+            )
 
         # Decode only the final message
         try:
@@ -360,7 +377,9 @@ class MobileManipulator:
             if new_arm_state is not None and frames is not None:
                 self.last_frames = frames
 
-                remote_arm_state_tensor = torch.tensor(new_arm_state, dtype=torch.float32)
+                remote_arm_state_tensor = torch.tensor(
+                    new_arm_state, dtype=torch.float32
+                )
                 self.last_remote_arm_state = remote_arm_state_tensor
 
                 present_speed = new_speed
@@ -375,14 +394,21 @@ class MobileManipulator:
         except Exception as e:
             print(f"[DEBUG] Error decoding video message: {e}")
             # If decode fails, fall back to old data
-            return (self.last_frames, self.last_present_speed, self.last_remote_arm_state)
+            return (
+                self.last_frames,
+                self.last_present_speed,
+                self.last_remote_arm_state,
+            )
 
         return frames, present_speed, remote_arm_state_tensor
 
     def _process_present_speed(self, present_speed: dict) -> torch.Tensor:
         state_tensor = torch.zeros(3, dtype=torch.int32)
         if present_speed:
-            decoded = {key: MobileManipulator.raw_to_degps(value) for key, value in present_speed.items()}
+            decoded = {
+                key: MobileManipulator.raw_to_degps(value)
+                for key, value in present_speed.items()
+            }
             if "1" in decoded:
                 state_tensor[0] = decoded["1"]
             if "2" in decoded:
@@ -395,7 +421,9 @@ class MobileManipulator:
         self, record_data: bool = False
     ) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]:
         if not self.is_connected:
-            raise RobotDeviceNotConnectedError("MobileManipulator is not connected. Run `connect()` first.")
+            raise RobotDeviceNotConnectedError(
+                "MobileManipulator is not connected. Run `connect()` first."
+            )
 
         speed_setting = self.speed_levels[self.speed_index]
         xy_speed = speed_setting["xy"]  # e.g. 0.1, 0.25, or 0.4
@@ -461,9 +489,15 @@ class MobileManipulator:
 
         body_state = self.wheel_raw_to_body(present_speed)
 
-        body_state_mm = (body_state[0] * 1000.0, body_state[1] * 1000.0, body_state[2])  # Convert x,y to mm/s
+        body_state_mm = (
+            body_state[0] * 1000.0,
+            body_state[1] * 1000.0,
+            body_state[2],
+        )  # Convert x,y to mm/s
         wheel_state_tensor = torch.tensor(body_state_mm, dtype=torch.float32)
-        combined_state_tensor = torch.cat((remote_arm_state_tensor, wheel_state_tensor), dim=0)
+        combined_state_tensor = torch.cat(
+            (remote_arm_state_tensor, wheel_state_tensor), dim=0
+        )
 
         obs_dict = {"observation.state": combined_state_tensor}
 
@@ -620,7 +654,11 @@ class MobileManipulator:
         # Convert each wheel’s angular speed (deg/s) to a raw integer.
         wheel_raw = [MobileManipulator.degps_to_raw(deg) for deg in wheel_degps]
 
-        return {"left_wheel": wheel_raw[0], "back_wheel": wheel_raw[1], "right_wheel": wheel_raw[2]}
+        return {
+            "left_wheel": wheel_raw[0],
+            "back_wheel": wheel_raw[1],
+            "right_wheel": wheel_raw[2],
+        }
 
     def wheel_raw_to_body(
         self, wheel_raw: dict, wheel_radius: float = 0.05, base_radius: float = 0.125

lerobot/common/robot_devices/robots/utils.py

@@ -72,7 +72,9 @@ def make_robot_from_config(config: RobotConfig):
 
         return ManipulatorRobot(config)
     elif isinstance(config, LeKiwiRobotConfig):
-        from lerobot.common.robot_devices.robots.mobile_manipulator import MobileManipulator
+        from lerobot.common.robot_devices.robots.mobile_manipulator import (
+            MobileManipulator,
+        )
 
         return MobileManipulator(config)
     else: