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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_utils.py
+9 -11
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@@ -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")