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

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pre-commit-ci[bot]
2025-03-24 13:41:27 +00:00
committed by Michel Aractingi
parent 2abbd60a0d
commit 0ea27704f6
123 changed files with 1161 additions and 3425 deletions
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33
lerobot/scripts/control_sim_robot.py
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@@ -174,10 +174,7 @@ def teleoperate(env, robot: Robot, process_action_fn, teleop_time_s=None):
leader_pos = robot.leader_arms.main.read("Present_Position")
action = process_action_fn(leader_pos)
env.step(np.expand_dims(action, 0))
if (
teleop_time_s is not None
and time.perf_counter() - start_teleop_t > teleop_time_s
):
if teleop_time_s is not None and time.perf_counter() - start_teleop_t > teleop_time_s:
print("Teleoperation processes finished.")
break
@@ -209,27 +206,19 @@ def record(
# Load pretrained policy
extra_features = (
{"next.reward": {"dtype": "int64", "shape": (1,), "names": None}}
if assign_rewards
else None
{"next.reward": {"dtype": "int64", "shape": (1,), "names": None}} if assign_rewards else None
)
policy = None
if pretrained_policy_name_or_path is not None:
policy, policy_fps, device, use_amp = init_policy(
pretrained_policy_name_or_path, policy_overrides
)
policy, policy_fps, device, use_amp = init_policy(pretrained_policy_name_or_path, policy_overrides)
if fps is None:
fps = policy_fps
logging.warning(
f"No fps provided, so using the fps from policy config ({policy_fps})."
)
logging.warning(f"No fps provided, so using the fps from policy config ({policy_fps}).")
if policy is None and process_action_from_leader is None:
raise ValueError(
"Either policy or process_action_fn has to be set to enable control in sim."
)
raise ValueError("Either policy or process_action_fn has to be set to enable control in sim.")
# initialize listener before sim env
listener, events = init_keyboard_listener(assign_rewards=assign_rewards)
@@ -380,9 +369,7 @@ def record(
if events["stop_recording"] or recorded_episodes >= num_episodes:
break
else:
logging.info(
"Waiting for a few seconds before starting next episode recording..."
)
logging.info("Waiting for a few seconds before starting next episode recording...")
busy_wait(3)
log_say("Stop recording", play_sounds, blocking=True)
@@ -481,9 +468,7 @@ if __name__ == "__main__":
required=True,
help="A description of the task preformed during recording that can be used as a language instruction.",
)
parser_record.add_argument(
"--num-episodes", type=int, default=50, help="Number of episodes to record."
)
parser_record.add_argument("--num-episodes", type=int, default=50, help="Number of episodes to record.")
parser_record.add_argument(
"--run-compute-stats",
type=int,
@@ -561,9 +546,7 @@ if __name__ == "__main__":
default="lerobot/test",
help="Dataset identifier. By convention it should match '{hf_username}/{dataset_name}' (e.g. `lerobot/test`).",
)
parser_replay.add_argument(
"--episode", type=int, default=0, help="Index of the episodes to replay."
)
parser_replay.add_argument("--episode", type=int, default=0, help="Index of the episodes to replay.")
args = parser.parse_args()