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

for more information, see https://pre-commit.ci

lerobot/common/robot_devices/cameras/opencv.py

@@ -31,20 +31,20 @@ from lerobot.common.utils.utils import capture_timestamp_utc
 MAX_OPENCV_INDEX = 60
 
 undistort = True
+
+
 def undistort_image(image):
     import cv2
-    camera_matrix = np.array([
+
-        [289.11451, 0., 347.23664],
+    camera_matrix = np.array([[289.11451, 0.0, 347.23664], [0.0, 289.75319, 235.67429], [0.0, 0.0, 1.0]])
-        [0., 289.75319, 235.67429],
+
-        [0., 0., 1.]
-    ])
-    
     dist_coeffs = np.array([-0.208848, 0.028006, -0.000705, -0.000820, 0.000000])
-    
+
     undistorted_image = cv2.undistort(image, camera_matrix, dist_coeffs)
-    
+
     return undistorted_image
 
+
 def find_cameras(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False) -> list[dict]:
     cameras = []
     if platform.system() == "Linux":

lerobot/common/robot_devices/control_utils.py

@@ -153,13 +153,16 @@ def predict_action(observation, policy, device, use_amp):
 
 #     return listener, events
 
+
 def init_keyboard_listener():
     events = {}
     events["exit_early"] = False
     events["rerecord_episode"] = False
     events["stop_recording"] = False
+    import threading
+
     from sshkeyboard import listen_keyboard
-    import threading    
+
     def on_press(key):
         try:
             if key == "right":
@@ -179,7 +182,8 @@ def init_keyboard_listener():
     listener = threading.Thread(target=listen_keyboard, kwargs={"on_press": on_press})
     listener.start()
 
-    return listener,events
+    return listener, events
+
 
 def warmup_record(
     robot,
@@ -284,7 +288,7 @@ def control_loop(
             dataset.add_frame(frame)
 
         if display_cameras:
-        # if display_cameras and not is_headless():
+            # if display_cameras and not is_headless():
             image_keys = [key for key in observation if "image" in key]
             for key in image_keys:
                 cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
@@ -316,6 +320,7 @@ def reset_environment(robot, events, reset_time_s, fps):
         teleoperate=True,
     )
 
+
 # def stop_recording(robot, listener, display_cameras):
 #     robot.disconnect()
 
@@ -326,16 +331,19 @@ def reset_environment(robot, events, reset_time_s, fps):
 #         if display_cameras:
 #             cv2.destroyAllWindows()
 
+
 def stop_recording(robot, listener, display_cameras):
     robot.disconnect()
 
     from sshkeyboard import stop_listening
+
     if listener is not None:
         stop_listening()
 
     if display_cameras:
         cv2.destroyAllWindows()
 
+
 def sanity_check_dataset_name(repo_id, policy_cfg):
     _, dataset_name = repo_id.split("/")
     # either repo_id doesnt start with "eval_" and there is no policy

lerobot/common/robot_devices/robots/configs.py

@@ -479,6 +479,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
 
     mock: bool = False
 
+
 @RobotConfig.register_subclass("roarm_m3")
 @dataclass
 class RoarmRobotConfig(RobotConfig):
@@ -489,14 +490,14 @@ class RoarmRobotConfig(RobotConfig):
 
     leader_arms: dict[str, str] = field(
         default_factory=lambda: {
-            "main": "/dev/ttyUSB0",  
+            "main": "/dev/ttyUSB0",
         }
     )
 
     # Follower arms configuration: left and right ports
     follower_arms: dict[str, str] = field(
         default_factory=lambda: {
-            "main": "/dev/ttyUSB1",  
+            "main": "/dev/ttyUSB1",
         }
     )
 
@@ -519,6 +520,7 @@ class RoarmRobotConfig(RobotConfig):
 
     mock: bool = False
 
+
 @RobotConfig.register_subclass("stretch")
 @dataclass
 class StretchRobotConfig(RobotConfig):
@@ -554,6 +556,7 @@ class StretchRobotConfig(RobotConfig):
 
     mock: bool = False
 
+
 @RobotConfig.register_subclass("lekiwi")
 @dataclass
 class LeKiwiRobotConfig(RobotConfig):

lerobot/common/robot_devices/robots/roarm_m3.py

@@ -4,19 +4,17 @@ and send orders to its motors.
 # TODO(rcadene, aliberts): reorganize the codebase into one file per robot, with the associated
 # calibration procedure, to make it easy for people to add their own robot.
 
-import json
 import logging
 import time
-import warnings
-from pathlib import Path
 
 import numpy as np
 import torch
+from roarm_sdk.roarm import roarm
 
 from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
 from lerobot.common.robot_devices.robots.configs import RoarmRobotConfig
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
-from roarm_sdk.roarm import roarm
+
 
 def ensure_safe_goal_position(
     goal_pos: torch.Tensor, present_pos: torch.Tensor, max_relative_target: float | list[float]
@@ -37,7 +35,8 @@ def ensure_safe_goal_position(
 
     return safe_goal_pos
 
-def make_roarm_from_configs(configs: dict[str, str]) -> (dict[str, roarm]):
+
+def make_roarm_from_configs(configs: dict[str, str]) -> dict[str, roarm]:
     roarms = {}
 
     for key, port in configs.items():
@@ -45,8 +44,8 @@ def make_roarm_from_configs(configs: dict[str, str]) -> (dict[str, roarm]):
 
     return roarms
 
-class RoarmRobot:
 
+class RoarmRobot:
     def __init__(
         self,
         config: RoarmRobotConfig,
@@ -58,7 +57,7 @@ class RoarmRobot:
         self.cameras = make_cameras_from_configs(self.config.cameras)
         self.is_connected = False
         self.logs = {}
-        
+
     @property
     def camera_features(self) -> dict:
         cam_ft = {}

lerobot/common/robot_devices/robots/utils.py

@@ -7,9 +7,9 @@ from lerobot.common.robot_devices.robots.configs import (
     LeKiwiRobotConfig,
     ManipulatorRobotConfig,
     MossRobotConfig,
+    RoarmRobotConfig,
     RobotConfig,
     So100RobotConfig,
-    RoarmRobotConfig,
     StretchRobotConfig,
 )
 
@@ -73,6 +73,7 @@ def make_robot_from_config(config: RobotConfig):
 
         return StretchRobot(config)
 
+
 def make_robot(robot_type: str, **kwargs) -> Robot:
     config = make_robot_config(robot_type, **kwargs)
     return make_robot_from_config(config)