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chore(style): fix pre-commit

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This commit is contained in:
Steven Palma
2026-02-23 11:31:57 +01:00
parent fee1934af4
commit e011fcbad4
5 changed files with 54 additions and 44 deletions
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examples/rac/hil_data_collection.py
+16 -14
View File
@@ -37,6 +37,17 @@ from dataclasses import dataclass
from pprint import pformat
from typing import Any
import torch
from hil_utils import (
HILDatasetConfig,
init_keyboard_listener,
make_identity_processors,
print_controls,
reset_loop,
teleop_disable_torque,
teleop_smooth_move_to,
)
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401
from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401
from lerobot.configs import parser
@@ -46,8 +57,6 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
from lerobot.datasets.utils import build_dataset_frame, combine_feature_dicts
from lerobot.datasets.video_utils import VideoEncodingManager
import torch
from lerobot.policies.factory import make_policy, make_pre_post_processors
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.rtc import ActionInterpolator
@@ -62,16 +71,6 @@ from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import get_safe_torch_device, init_logging, log_say
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
from hil_utils import (
HILDatasetConfig,
init_keyboard_listener,
make_identity_processors,
print_controls,
reset_loop,
teleop_disable_torque,
teleop_smooth_move_to,
)
logger = logging.getLogger(__name__)
@@ -127,7 +126,7 @@ def rollout_loop(
waiting_for_takeover = False
last_action: dict[str, Any] | None = None
robot_action: dict[str, Any] = {}
action_keys = sorted([k for k in robot.action_features.keys()])
action_keys = sorted(robot.action_features.keys())
interpolator = ActionInterpolator(multiplier=cfg.interpolation_multiplier)
control_interval = interpolator.get_control_interval(fps)
@@ -147,7 +146,9 @@ def rollout_loop(
# Transition to paused state
if events["policy_paused"] and not was_paused:
obs = robot.get_observation()
robot_pos = {k: v for k, v in obs.items() if k.endswith(".pos") and k in robot.observation_features}
robot_pos = {
k: v for k, v in obs.items() if k.endswith(".pos") and k in robot.observation_features
}
teleop_smooth_move_to(teleop, robot_pos, duration_s=2.0, fps=50)
events["start_next_episode"] = False
waiting_for_takeover = True
@@ -341,6 +342,7 @@ def hil_collect(cfg: HILConfig) -> LeRobotDataset:
def main():
from lerobot.utils.import_utils import register_third_party_plugins
register_third_party_plugins()
hil_collect()
examples/rac/hil_data_collection_rtc.py
+29 -17
View File
@@ -44,6 +44,15 @@ from threading import Event, Lock, Thread
from typing import Any
import torch
from hil_utils import (
HILDatasetConfig,
init_keyboard_listener,
make_identity_processors,
print_controls,
reset_loop,
teleop_disable_torque,
teleop_smooth_move_to,
)
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401
from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401
@@ -64,19 +73,9 @@ from lerobot.teleoperators import Teleoperator, TeleoperatorConfig, make_teleope
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.control_utils import is_headless
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import get_safe_torch_device, init_logging, log_say
from lerobot.utils.utils import init_logging, log_say
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
from hil_utils import (
HILDatasetConfig,
init_keyboard_listener,
make_identity_processors,
print_controls,
reset_loop,
teleop_disable_torque,
teleop_smooth_move_to,
)
logger = logging.getLogger(__name__)
@@ -239,7 +238,7 @@ def rollout_loop(
was_paused = False
waiting_for_takeover = False
last_action: dict[str, Any] | None = None
action_keys = [k for k in robot.action_features.keys() if k.endswith(".pos")]
action_keys = [k for k in robot.action_features if k.endswith(".pos")]
interpolator = ActionInterpolator(multiplier=cfg.interpolation_multiplier)
control_interval = interpolator.get_control_interval(fps)
@@ -261,7 +260,9 @@ def rollout_loop(
if events["policy_paused"] and not was_paused:
policy_active.clear()
obs = robot.get_observation()
robot_pos = {k: v for k, v in obs.items() if k.endswith(".pos") and k in robot.observation_features}
robot_pos = {
k: v for k, v in obs.items() if k.endswith(".pos") and k in robot.observation_features
}
teleop_smooth_move_to(teleop, robot_pos, duration_s=2.0, fps=50)
events["start_next_episode"] = False
waiting_for_takeover = True
@@ -305,7 +306,9 @@ def rollout_loop(
action_tensor = interpolator.get()
if action_tensor is not None:
robot_action = {k: action_tensor[i].item() for i, k in enumerate(action_keys) if i < len(action_tensor)}
robot_action = {
k: action_tensor[i].item() for i, k in enumerate(action_keys) if i < len(action_tensor)
}
robot.send_action(robot_action)
last_action = robot_action
action_frame = build_dataset_frame(dataset.features, robot_action, prefix=ACTION)
@@ -418,8 +421,17 @@ def hil_rtc_collect(cfg: HILRTCConfig) -> LeRobotDataset:
rtc_thread = Thread(
target=rtc_inference_thread,
args=(policy, obs_holder, hw_features, preprocessor, postprocessor,
queue_holder, shutdown_event, policy_active, cfg),
args=(
policy,
obs_holder,
hw_features,
preprocessor,
postprocessor,
queue_holder,
shutdown_event,
policy_active,
cfg,
),
daemon=True,
)
rtc_thread.start()
@@ -492,10 +504,10 @@ def hil_rtc_collect(cfg: HILRTCConfig) -> LeRobotDataset:
def main():
from lerobot.utils.import_utils import register_third_party_plugins
register_third_party_plugins()
hil_rtc_collect()
if __name__ == "__main__":
main()
examples/rac/hil_utils.py
+9 -11
View File
@@ -17,8 +17,8 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.robots import Robot, RobotConfig
from lerobot.teleoperators import Teleoperator, TeleoperatorConfig
from lerobot.robots import Robot
from lerobot.teleoperators import Teleoperator
from lerobot.utils.control_utils import is_headless
from lerobot.utils.robot_utils import precise_sleep
@@ -151,12 +151,12 @@ def start_pedal_listener(events: dict):
logger.info("[Pedal] evdev not installed - pedal support disabled")
return
PEDAL_DEVICE = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
KEY_LEFT, KEY_RIGHT = "KEY_A", "KEY_C"
pedal_device = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
key_left, key_right = "KEY_A", "KEY_C"
def pedal_reader():
try:
dev = InputDevice(PEDAL_DEVICE)
dev = InputDevice(pedal_device)
print(f"[Pedal] Connected: {dev.name}")
for ev in dev.read_loop():
if ev.type != ecodes.EV_KEY:
@@ -167,17 +167,16 @@ def start_pedal_listener(events: dict):
continue
if events["in_reset"]:
if code in [KEY_LEFT, KEY_RIGHT]:
if code in [key_left, key_right]:
events["start_next_episode"] = True
else:
if code == KEY_RIGHT:
if code == key_right:
if events["correction_active"]:
events["exit_early"] = True
elif not events["policy_paused"]:
events["policy_paused"] = True
elif code == KEY_LEFT:
if events["policy_paused"] and not events["correction_active"]:
events["start_next_episode"] = True
elif code == key_left and events["policy_paused"] and not events["correction_active"]:
events["start_next_episode"] = True
except (FileNotFoundError, PermissionError) as e:
logger.info(f"[Pedal] {e}")
@@ -248,4 +247,3 @@ def print_controls(rtc: bool = False):
print(" → - End episode")
print(" ESC - Stop and push to hub")
print("=" * 60 + "\n")