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

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

lerobot/scripts/control_robot.py

@@ -167,7 +167,7 @@ from lerobot.common.robot_devices.control_utils import (
     warmup_record,
 )
 from lerobot.common.robot_devices.robots.utils import Robot, make_robot_from_config
-from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect
+from lerobot.common.robot_devices.utils import safe_disconnect
 from lerobot.common.utils.utils import has_method, init_logging, log_say
 from lerobot.configs import parser
 

lerobot/scripts/server/gym_manipulator.py

@@ -346,7 +346,6 @@ class AddCurrentToObservation(gym.ObservationWrapper):
         old_high = self.observation_space["observation.state"].high
         old_shape = self.observation_space["observation.state"].shape
 
-
         new_low = np.concatenate([old_low, np.zeros(num_dof)])
         new_high = np.concatenate([old_high, np.ones(num_dof) * max_current])
 
@@ -359,9 +358,10 @@ class AddCurrentToObservation(gym.ObservationWrapper):
             dtype=np.float32,
         )
 
-
     def observation(self, observation):
-        present_current = self.unwrapped.robot.follower_arms["main"].read("Present_Current").astype(np.float32)
+        present_current = (
+            self.unwrapped.robot.follower_arms["main"].read("Present_Current").astype(np.float32)
+        )
         observation["observation.state"] = torch.cat(
             [observation["observation.state"], torch.from_numpy(present_current)], dim=-1
         )
@@ -859,7 +859,10 @@ class GripperActionWrapper(gym.ActionWrapper):
             action, is_intervention = action
 
         if self.gripper_sleep > 0.0:
-            if self.last_gripper_action is not None and time.perf_counter() - self.last_gripper_action_time < self.gripper_sleep:
+            if (
+                self.last_gripper_action is not None
+                and time.perf_counter() - self.last_gripper_action_time < self.gripper_sleep
+            ):
                 action[-1] = self.last_gripper_action
             else:
                 self.last_gripper_action_time = time.perf_counter()
@@ -1506,7 +1509,7 @@ def main(cfg: EnvConfig):
 
         dt_s = time.perf_counter() - start_loop_s
         busy_wait(1 / cfg.fps - dt_s)
-    
+
     logging.info(f"Success after 20 steps {sucesses}")
     logging.info(f"success rate {sum(sucesses) / len(sucesses)}")