From 9c64f3f994965ebc86038a44e56f7dc701fd8a59 Mon Sep 17 00:00:00 2001
From: CarolinePascal <caroline8.pascal@gmail.com>
Date: Tue, 5 May 2026 11:31:23 +0200
Subject: [PATCH] chore(format): formatting code, fixing error messages and
 variable names

---
 src/lerobot/datasets/pyav_utils.py    |  6 +-----
 src/lerobot/datasets/video_utils.py   | 11 +++++------
 tests/datasets/test_video_encoding.py |  2 +-
 3 files changed, 7 insertions(+), 12 deletions(-)

diff --git a/src/lerobot/datasets/pyav_utils.py b/src/lerobot/datasets/pyav_utils.py
index c13c66b89..20ec44e2e 100644
--- a/src/lerobot/datasets/pyav_utils.py
+++ b/src/lerobot/datasets/pyav_utils.py
@@ -177,10 +177,6 @@ def check_video_encoder_config_pyav(config: VideoEncoderConfig) -> None:
     vcodec = config.vcodec
     options = _get_codec_options_by_name(vcodec)
     if not options:
-        logger.warning(
-            "Codec %r is not available in the bundled FFmpeg build; ",
-            vcodec,
-        )
-        return
+        raise ValueError(f"Codec {vcodec!r} is not available in the bundled FFmpeg build")
     _check_pixel_format(config.vcodec, config.pix_fmt)
     _check_codec_options(config.vcodec, config.get_codec_options(), config)
diff --git a/src/lerobot/datasets/video_utils.py b/src/lerobot/datasets/video_utils.py
index 9142c9364..4f39e7679 100644
--- a/src/lerobot/datasets/video_utils.py
+++ b/src/lerobot/datasets/video_utils.py
@@ -46,7 +46,7 @@ logger = logging.getLogger(__name__)
 
 # List of hardware encoders to probe for auto-selection. Availability depends on the platform and FFmpeg build.
 # Determines the order of preference for auto-selection when vcodec="auto" is used.
-HW_ENCODERS = [
+HW_VIDEO_CODECS = [
     "h264_videotoolbox",  # macOS
     "hevc_videotoolbox",  # macOS
     "h264_nvenc",  # NVIDIA GPU
@@ -55,7 +55,7 @@ HW_ENCODERS = [
     "h264_qsv",  # Intel Quick Sync
 ]
 
-VALID_VIDEO_CODECS = {"h264", "hevc", "libsvtav1", "auto"} | set(HW_ENCODERS)
+VALID_VIDEO_CODECS = {"h264", "hevc", "libsvtav1", "auto"} | set(HW_VIDEO_CODECS)
 
 LIBSVTAV1_DEFAULT_PRESET: int = 12
 
@@ -125,8 +125,8 @@ class VideoEncoderConfig:
         if self.vcodec not in VALID_VIDEO_CODECS:
             raise ValueError(f"Invalid vcodec '{self.vcodec}'. Must be one of: {sorted(VALID_VIDEO_CODECS)}")
         if self.vcodec == "auto":
-            available = self.detect_available_encoders(HW_ENCODERS)
-            for encoder in HW_ENCODERS:
+            available = self.detect_available_encoders(HW_VIDEO_CODECS)
+            for encoder in HW_VIDEO_CODECS:
                 if encoder in available:
                     logger.info(f"Auto-selected video codec: {encoder}")
                     self.vcodec = encoder
@@ -136,13 +136,12 @@ class VideoEncoderConfig:
 
         if self.detect_available_encoders(self.vcodec):
             logger.info(f"Using video codec: {self.vcodec}")
-            self.vcodec = self.vcodec
             return
         raise ValueError(f"Unsupported video codec: {self.vcodec} with video backend {self.video_backend}")
 
     def get_codec_options(
         self, encoder_threads: int | None = None, as_strings: bool = False
-    ) -> dict[str, str]:
+    ) -> dict[str, Any]:
         """Translate the tuning fields to codec-specific FFmpeg options.
 
         ``VideoEncoderConfig.extra_options`` are merged last but never override a structured field.
diff --git a/tests/datasets/test_video_encoding.py b/tests/datasets/test_video_encoding.py
index 6dde3a36b..0b329d5f7 100644
--- a/tests/datasets/test_video_encoding.py
+++ b/tests/datasets/test_video_encoding.py
@@ -298,7 +298,7 @@ class TestEncoderDetection:
 
     @require_videotoolbox
     def test_auto_picks_videotoolbox_when_available(self):
-        """``h264_videotoolbox`` sits at the top of ``HW_ENCODERS`` so it wins when present."""
+        """``h264_videotoolbox`` sits at the top of ``HW_VIDEO_CODECS`` so it wins when present."""
         cfg = VideoEncoderConfig(vcodec="auto")
         assert cfg.vcodec == "h264_videotoolbox"