chore(style): fix pre-commit

examples/rac/hil_data_collection.py

@@ -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

@@ -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,
+            args=(
-                  queue_holder, shutdown_event, policy_active, cfg),
+                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

@@ -17,8 +17,8 @@ from lerobot.processor.converters import (
     transition_to_observation,
     transition_to_robot_action,
 )
-from lerobot.robots import Robot, RobotConfig
+from lerobot.robots import Robot
-from lerobot.teleoperators import Teleoperator, TeleoperatorConfig
+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"
+    pedal_device = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
-    KEY_LEFT, KEY_RIGHT = "KEY_A", "KEY_C"
+    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:
+                    elif code == key_left and events["policy_paused"] and not events["correction_active"]:
-                        if events["policy_paused"] and not events["correction_active"]:
+                        events["start_next_episode"] = True
-                            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")
-

src/lerobot/policies/rtc/__init__.py

@@ -27,4 +27,3 @@ __all__ = [
     "RTCConfig",
     "RTCProcessor",
 ]
-

src/lerobot/policies/rtc/action_interpolator.py

@@ -115,4 +115,3 @@ class ActionInterpolator:
             Control interval in seconds (divided by multiplier).
         """
         return 1.0 / (fps * self.multiplier)
-