precomit nits

lerobot/common/robots/so100_follower_end_effector/config_so100_follower_end_effector.py

@@ -14,10 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Dict, List, Optional
-
 from dataclasses import dataclass, field
+from typing import Dict, List
+
 from lerobot.common.cameras import CameraConfig
+
 from ..config import RobotConfig
 
 
@@ -25,6 +26,7 @@ from ..config import RobotConfig
 @dataclass
 class SO100FollowerEndEffectorConfig(RobotConfig):
     """Configuration for the SO100FollowerEndEffector robot."""
+
     # Port to connect to the arm
     port: str
 
@@ -39,7 +41,9 @@ class SO100FollowerEndEffectorConfig(RobotConfig):
     cameras: dict[str, CameraConfig] = field(default_factory=dict)
 
     # Default bounds for the end-effector position (in meters)
-    bounds: Dict[str, List[float]] =  field(default_factory=lambda: {
+    bounds: Dict[str, List[float]] = field(
-        "min": [0.1, -0.3, 0.0],  # min x, y, z
+        default_factory=lambda: {
-        "max": [0.4, 0.3, 0.4],   # max x, y, z
+            "min": [0.1, -0.3, 0.0],  # min x, y, z
-    } )
+            "max": [0.4, 0.3, 0.4],  # max x, y, z
+        }
+    )

lerobot/common/robots/so100_follower_end_effector/so100_follower_end_effector.py

@@ -15,16 +15,17 @@
 # limitations under the License.
 
 import logging
-import numpy as np
 from typing import Any, Dict
 
+import numpy as np
+
 from lerobot.common.errors import DeviceNotConnectedError
 from lerobot.common.model.kinematics import RobotKinematics
+from lerobot.common.motors import Motor, MotorNormMode
+from lerobot.common.motors.feetech import FeetechMotorsBus
 
 from ..so100_follower import SO100Follower
 from .config_so100_follower_end_effector import SO100FollowerEndEffectorConfig
-from lerobot.common.motors import Motor, MotorNormMode
-from lerobot.common.motors.feetech import FeetechMotorsBus
 
 logger = logging.getLogger(__name__)
 
@@ -104,12 +105,16 @@ class SO100FollowerEndEffector(SO100Follower):
         # Convert action to numpy array if not already
         if isinstance(action, dict):
             if all(k in action for k in ["delta_x", "delta_y", "delta_z", "gripper"]):
-                action = np.array([action["delta_x"], action["delta_y"], action["delta_z"], action["gripper"]], dtype=np.float32)
+                action = np.array(
+                    [action["delta_x"], action["delta_y"], action["delta_z"], action["gripper"]],
+                    dtype=np.float32,
+                )
             else:
-                logger.warning(f"Expected action keys 'delta_x', 'delta_y', 'delta_z', got {list(action.keys())}")
+                logger.warning(
+                    f"Expected action keys 'delta_x', 'delta_y', 'delta_z', got {list(action.keys())}"
+                )
                 action = np.zeros(4, dtype=np.float32)
 
-
         # Read current joint positions
         current_joint_pos = self.bus.sync_read("Present_Position")
 
@@ -145,7 +150,7 @@ class SO100FollowerEndEffector(SO100Follower):
         # Create joint space action dictionary
         joint_action = {
             f"{joint_names[i]}.pos": target_joint_values_in_degrees[i]
-            for i in range(len(joint_names)-1)  # Exclude gripper
+            for i in range(len(joint_names) - 1)  # Exclude gripper
         }
 
         # Handle gripper separately if included in action
@@ -156,6 +161,7 @@ class SO100FollowerEndEffector(SO100Follower):
             joint_action["gripper.pos"] = current_joint_pos[-1]
 
         import time
+
         time.sleep(0.001)
         # Send joint space action to parent class
         return super().send_action(joint_action)

lerobot/common/robots/utils.py

@@ -131,4 +131,3 @@ def get_arm_id(name, arm_type):
     like Aloha, it could be left_follower, right_follower, left_leader, or right_leader.
     """
     return f"{name}_{arm_type}"
-

lerobot/common/teleoperators/gamepad/gamepad_utils.py

@@ -14,17 +14,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import argparse
 import logging
-import sys
 import time
 
 import numpy as np
 import torch
 
-from lerobot.common.utils.robot_utils import busy_wait
-from lerobot.common.utils.utils import init_logging
 from lerobot.common.robots.kinematics import RobotKinematics
+from lerobot.common.utils.robot_utils import busy_wait
 
 
 class InputController:

lerobot/common/teleoperators/gamepad/teleop_gamepad.py

@@ -15,20 +15,22 @@
 # limitations under the License.
 
 import sys
+from enum import IntEnum
 from queue import Queue
 from typing import Any
-from enum import IntEnum
 
-from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 import numpy as np
+
 from ..teleoperator import Teleoperator
 from .configuration_gamepad import GamepadTeleopConfig
 
+
 class GripperAction(IntEnum):
     CLOSE = 0
     STAY = 1
     OPEN = 2
 
+
 gripper_action_map = {
     "close": GripperAction.CLOSE.value,
     "open": GripperAction.OPEN.value,