diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index b921f4e1..dba87705 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -2,6 +2,7 @@ exclude: ^(tests/data)
default_language_version:
python: python3.10
repos:
+ ##### Style / Misc. #####
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v5.0.0
hooks:
@@ -14,7 +15,7 @@ repos:
- id: end-of-file-fixer
- id: trailing-whitespace
- repo: https://github.com/crate-ci/typos
- rev: v1.29.10
+ rev: v1.30.0
hooks:
- id: typos
args: [--force-exclude]
@@ -23,16 +24,24 @@ repos:
hooks:
- id: pyupgrade
- repo: https://github.com/astral-sh/ruff-pre-commit
- rev: v0.9.6
+ rev: v0.9.9
hooks:
- id: ruff
args: [--fix]
- id: ruff-format
+
+ ##### Security #####
- repo: https://github.com/gitleaks/gitleaks
- rev: v8.23.3
+ rev: v8.24.0
hooks:
- id: gitleaks
- repo: https://github.com/woodruffw/zizmor-pre-commit
- rev: v1.3.1
+ rev: v1.4.1
hooks:
- id: zizmor
+ - repo: https://github.com/PyCQA/bandit
+ rev: 1.8.3
+ hooks:
+ - id: bandit
+ args: ["-c", "pyproject.toml"]
+ additional_dependencies: ["bandit[toml]"]
diff --git a/lerobot/common/utils/utils.py b/lerobot/common/utils/utils.py
index d0c12b30..cd26f04b 100644
--- a/lerobot/common/utils/utils.py
+++ b/lerobot/common/utils/utils.py
@@ -17,6 +17,7 @@ import logging
import os
import os.path as osp
import platform
+import subprocess
from copy import copy
from datetime import datetime, timezone
from pathlib import Path
@@ -165,23 +166,31 @@ def capture_timestamp_utc():
def say(text, blocking=False):
- # Check if mac, linux, or windows.
- if platform.system() == "Darwin":
- cmd = f'say "{text}"'
- if not blocking:
- cmd += " &"
- elif platform.system() == "Linux":
- cmd = f'spd-say "{text}"'
- if blocking:
- cmd += " --wait"
- elif platform.system() == "Windows":
- # TODO(rcadene): Make blocking option work for Windows
- cmd = (
- 'PowerShell -Command "Add-Type -AssemblyName System.Speech; '
- f"(New-Object System.Speech.Synthesis.SpeechSynthesizer).Speak('{text}')\""
- )
+ system = platform.system()
- os.system(cmd)
+ if system == "Darwin":
+ cmd = ["say", text]
+
+ elif system == "Linux":
+ cmd = ["spd-say", text]
+ if blocking:
+ cmd.append("--wait")
+
+ elif system == "Windows":
+ cmd = [
+ "PowerShell",
+ "-Command",
+ "Add-Type -AssemblyName System.Speech; "
+ f"(New-Object System.Speech.Synthesis.SpeechSynthesizer).Speak('{text}')",
+ ]
+
+ else:
+ raise RuntimeError("Unsupported operating system for text-to-speech.")
+
+ if blocking:
+ subprocess.run(cmd, check=True)
+ else:
+ subprocess.Popen(cmd, creationflags=subprocess.CREATE_NO_WINDOW if system == "Windows" else 0)
def log_say(text, play_sounds, blocking=False):
diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py
index a4f79afc..47225993 100644
--- a/lerobot/scripts/eval.py
+++ b/lerobot/scripts/eval.py
@@ -454,7 +454,7 @@ def _compile_episode_data(
@parser.wrap()
-def eval(cfg: EvalPipelineConfig):
+def eval_main(cfg: EvalPipelineConfig):
logging.info(pformat(asdict(cfg)))
# Check device is available
@@ -499,4 +499,4 @@ def eval(cfg: EvalPipelineConfig):
if __name__ == "__main__":
init_logging()
- eval()
+ eval_main()
diff --git a/lerobot/scripts/visualize_dataset_html.py b/lerobot/scripts/visualize_dataset_html.py
index a0da0869..a6899ce9 100644
--- a/lerobot/scripts/visualize_dataset_html.py
+++ b/lerobot/scripts/visualize_dataset_html.py
@@ -194,7 +194,7 @@ def run_server(
]
response = requests.get(
- f"https://huggingface.co/datasets/{repo_id}/resolve/main/meta/episodes.jsonl"
+ f"https://huggingface.co/datasets/{repo_id}/resolve/main/meta/episodes.jsonl", timeout=5
)
response.raise_for_status()
# Split into lines and parse each line as JSON
@@ -318,7 +318,9 @@ def get_episode_language_instruction(dataset: LeRobotDataset, ep_index: int) ->
def get_dataset_info(repo_id: str) -> IterableNamespace:
- response = requests.get(f"https://huggingface.co/datasets/{repo_id}/resolve/main/meta/info.json")
+ response = requests.get(
+ f"https://huggingface.co/datasets/{repo_id}/resolve/main/meta/info.json", timeout=5
+ )
response.raise_for_status() # Raises an HTTPError for bad responses
dataset_info = response.json()
dataset_info["repo_id"] = repo_id
diff --git a/lerobot/templates/visualize_dataset_template.html b/lerobot/templates/visualize_dataset_template.html
index d81ce630..96ef28d3 100644
--- a/lerobot/templates/visualize_dataset_template.html
+++ b/lerobot/templates/visualize_dataset_template.html
@@ -42,22 +42,22 @@
-
+
-
-
-
+
-
@@ -83,7 +83,7 @@
-
@@ -476,7 +476,7 @@
episodes: {{ episodes }},
pageSize: 100,
page: 1,
-
+
init() {
// Find which page contains the current episode_id
const currentEpisodeId = {{ episode_id }};
@@ -485,23 +485,23 @@
this.page = Math.floor(episodeIndex / this.pageSize) + 1;
}
},
-
+
get totalPages() {
return Math.ceil(this.episodes.length / this.pageSize);
},
-
+
get paginatedEpisodes() {
const start = (this.page - 1) * this.pageSize;
const end = start + this.pageSize;
return this.episodes.slice(start, end);
},
-
+
nextPage() {
if (this.page < this.totalPages) {
this.page++;
}
},
-
+
prevPage() {
if (this.page > 1) {
this.page--;
@@ -515,7 +515,7 @@
window.addEventListener('keydown', (e) => {
// Use the space bar to play and pause, instead of default action (e.g. scrolling)
const { keyCode, key } = e;
-
+
if (keyCode === 32 || key === ' ') {
e.preventDefault();
const btnPause = document.querySelector('[x-ref="btnPause"]');
diff --git a/pyproject.toml b/pyproject.toml
index 7684ce48..9a7c9730 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -111,10 +111,19 @@ exclude = [
"venv",
]
-
[tool.ruff.lint]
select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]
+[tool.bandit]
+exclude_dirs = [
+ "tests",
+ "benchmarks",
+ "lerobot/common/datasets/push_dataset_to_hub",
+ "lerobot/common/datasets/v2/convert_dataset_v1_to_v2",
+ "lerobot/common/policies/pi0/conversion_scripts",
+ "lerobot/scripts/push_dataset_to_hub.py",
+]
+skips = ["B101", "B311", "B404", "B603"]
[tool.typos]
default.extend-ignore-re = [