[HIL-SERL]Remove overstrict pre-commit modifications (#1028)

lerobot/common/robot_devices/robots/feetech_calibration.py

@@ -207,10 +207,7 @@ def run_arm_auto_calibration_so100(arm: MotorsBus, robot_type: str, arm_name: st
 
     print("Calibrate elbow_flex")
     calib["elbow_flex"] = move_to_calibrate(
-        arm,
-        "elbow_flex",
-        positive_first=False,
-        in_between_move_hook=in_between_move_hook,
+        arm, "elbow_flex", positive_first=False, in_between_move_hook=in_between_move_hook
     )
     calib["elbow_flex"] = apply_offset(calib["elbow_flex"], offset=80 - 1024)
 
@@ -242,11 +239,7 @@ def run_arm_auto_calibration_so100(arm: MotorsBus, robot_type: str, arm_name: st
         }
         arm.write("Goal_Position", list(positions.values()), list(positions.keys()))
 
-    arm.write(
-        "Goal_Position",
-        round(calib["shoulder_lift"]["zero_pos"] - 1600),
-        "shoulder_lift",
-    )
+    arm.write("Goal_Position", round(calib["shoulder_lift"]["zero_pos"] - 1600), "shoulder_lift")
     time.sleep(2)
     arm.write("Goal_Position", round(calib["elbow_flex"]["zero_pos"] + 1700), "elbow_flex")
     time.sleep(2)
@@ -257,11 +250,7 @@ def run_arm_auto_calibration_so100(arm: MotorsBus, robot_type: str, arm_name: st
 
     print("Calibrate wrist_roll")
     calib["wrist_roll"] = move_to_calibrate(
-        arm,
-        "wrist_roll",
-        invert_drive_mode=True,
-        positive_first=False,
-        while_move_hook=while_move_hook,
+        arm, "wrist_roll", invert_drive_mode=True, positive_first=False, while_move_hook=while_move_hook
     )
 
     arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll")

lerobot/common/robot_devices/robots/lekiwi_remote.py

@@ -61,9 +61,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
     calib_dir.mkdir(parents=True, exist_ok=True)
     calib_file = calib_dir / "main_follower.json"
     try:
-        from lerobot.common.robot_devices.robots.feetech_calibration import (
-            run_arm_manual_calibration,
-        )
+        from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration
     except ImportError:
         print("[WARNING] Calibration function not available. Skipping calibration.")
         return
@@ -118,14 +116,7 @@ def run_lekiwi(robot_config):
     robot = LeKiwi(motors_bus)
 
     # Define the expected arm motor IDs.
-    arm_motor_ids = [
-        "shoulder_pan",
-        "shoulder_lift",
-        "elbow_flex",
-        "wrist_flex",
-        "wrist_roll",
-        "gripper",
-    ]
+    arm_motor_ids = ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]
 
     # Disable torque for each arm motor.
     for motor in arm_motor_ids:
@@ -139,9 +130,7 @@ def run_lekiwi(robot_config):
     images_lock = threading.Lock()
     stop_event = threading.Event()
     cam_thread = threading.Thread(
-        target=run_camera_capture,
-        args=(cameras, images_lock, latest_images_dict, stop_event),
-        daemon=True,
+        target=run_camera_capture, args=(cameras, images_lock, latest_images_dict, stop_event), daemon=True
     )
     cam_thread.start()
 

lerobot/common/robot_devices/robots/mobile_manipulator.py

@@ -25,14 +25,9 @@ import zmq
 
 from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
 from lerobot.common.robot_devices.motors.feetech import TorqueMode
-from lerobot.common.robot_devices.motors.utils import (
-    MotorsBus,
-    make_motors_buses_from_configs,
-)
+from lerobot.common.robot_devices.motors.utils import MotorsBus, make_motors_buses_from_configs
 from lerobot.common.robot_devices.robots.configs import LeKiwiRobotConfig
-from lerobot.common.robot_devices.robots.feetech_calibration import (
-    run_arm_manual_calibration,
-)
+from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration
 from lerobot.common.robot_devices.robots.utils import get_arm_id
 from lerobot.common.robot_devices.utils import RobotDeviceNotConnectedError
 
@@ -329,11 +324,7 @@ class MobileManipulator:
         socks = dict(poller.poll(15))
         if self.video_socket not in socks or socks[self.video_socket] != zmq.POLLIN:
             # No new data arrived → reuse ALL old data
-            return (
-                self.last_frames,
-                self.last_present_speed,
-                self.last_remote_arm_state,
-            )
+            return (self.last_frames, self.last_present_speed, self.last_remote_arm_state)
 
         # Drain all messages, keep only the last
         last_msg = None
@@ -346,11 +337,7 @@ class MobileManipulator:
 
         if not last_msg:
             # No new message → also reuse old
-            return (
-                self.last_frames,
-                self.last_present_speed,
-                self.last_remote_arm_state,
-            )
+            return (self.last_frames, self.last_present_speed, self.last_remote_arm_state)
 
         # Decode only the final message
         try:
@@ -388,11 +375,7 @@ class MobileManipulator:
         except Exception as e:
             print(f"[DEBUG] Error decoding video message: {e}")
             # If decode fails, fall back to old data
-            return (
-                self.last_frames,
-                self.last_present_speed,
-                self.last_remote_arm_state,
-            )
+            return (self.last_frames, self.last_present_speed, self.last_remote_arm_state)
 
         return frames, present_speed, remote_arm_state_tensor
 
@@ -478,11 +461,7 @@ class MobileManipulator:
 
         body_state = self.wheel_raw_to_body(present_speed)
 
-        body_state_mm = (
-            body_state[0] * 1000.0,
-            body_state[1] * 1000.0,
-            body_state[2],
-        )  # Convert x,y to mm/s
+        body_state_mm = (body_state[0] * 1000.0, body_state[1] * 1000.0, body_state[2])  # Convert x,y to mm/s
         wheel_state_tensor = torch.tensor(body_state_mm, dtype=torch.float32)
         combined_state_tensor = torch.cat((remote_arm_state_tensor, wheel_state_tensor), dim=0)
 
@@ -641,11 +620,7 @@ class MobileManipulator:
         # Convert each wheel’s angular speed (deg/s) to a raw integer.
         wheel_raw = [MobileManipulator.degps_to_raw(deg) for deg in wheel_degps]
 
-        return {
-            "left_wheel": wheel_raw[0],
-            "back_wheel": wheel_raw[1],
-            "right_wheel": wheel_raw[2],
-        }
+        return {"left_wheel": wheel_raw[0], "back_wheel": wheel_raw[1], "right_wheel": wheel_raw[2]}
 
     def wheel_raw_to_body(
         self, wheel_raw: dict, wheel_radius: float = 0.05, base_radius: float = 0.125

lerobot/common/robot_devices/robots/utils.py

@@ -72,9 +72,7 @@ def make_robot_from_config(config: RobotConfig):
 
         return ManipulatorRobot(config)
     elif isinstance(config, LeKiwiRobotConfig):
-        from lerobot.common.robot_devices.robots.mobile_manipulator import (
-            MobileManipulator,
-        )
+        from lerobot.common.robot_devices.robots.mobile_manipulator import MobileManipulator
 
         return MobileManipulator(config)
     else: