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

tests/policies/test_policies.py

@@ -59,33 +59,16 @@ def dummy_dataset_metadata(lerobot_dataset_metadata_factory, info_factory, tmp_p
         "action": {
             "dtype": "float32",
             "shape": (6,),
-            "names": [
-                "shoulder_pan",
-                "shoulder_lift",
-                "elbow_flex",
-                "wrist_flex",
-                "wrist_roll",
-                "gripper",
-            ],
+            "names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
         },
         "observation.state": {
             "dtype": "float32",
             "shape": (6,),
-            "names": [
-                "shoulder_pan",
-                "shoulder_lift",
-                "elbow_flex",
-                "wrist_flex",
-                "wrist_roll",
-                "gripper",
-            ],
+            "names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
         },
     }
     info = info_factory(
-        total_episodes=1,
-        total_frames=1,
-        camera_features=camera_features,
-        motor_features=motor_features,
+        total_episodes=1, total_frames=1, camera_features=camera_features, motor_features=motor_features
     )
     ds_meta = lerobot_dataset_metadata_factory(root=tmp_path / "init", info=info)
     return ds_meta
@@ -98,8 +81,7 @@ def test_get_policy_and_config_classes(policy_name: str):
     policy_cfg = make_policy_config(policy_name)
     assert policy_cls.name == policy_name
     assert issubclass(
-        policy_cfg.__class__,
-        inspect.signature(policy_cls.__init__).parameters["config"].annotation,
+        policy_cfg.__class__, inspect.signature(policy_cls.__init__).parameters["config"].annotation
     )
 
 
@@ -110,13 +92,7 @@ def test_get_policy_and_config_classes(policy_name: str):
         ("lerobot/pusht", "pusht", {}, "diffusion", {}),
         ("lerobot/pusht", "pusht", {}, "vqbet", {}),
         ("lerobot/pusht", "pusht", {}, "act", {}),
-        (
-            "lerobot/aloha_sim_insertion_human",
-            "aloha",
-            {"task": "AlohaInsertion-v0"},
-            "act",
-            {},
-        ),
+        ("lerobot/aloha_sim_insertion_human", "aloha", {"task": "AlohaInsertion-v0"}, "act", {}),
         (
             "lerobot/aloha_sim_insertion_scripted",
             "aloha",

tests/robots/test_control_robot.py

@@ -390,8 +390,7 @@ def test_record_with_event_exit_early(tmp_path, request, robot_type, mock):
 
 
 @pytest.mark.parametrize(
-    "robot_type, mock, num_image_writer_processes",
-    [("koch", True, 0), ("koch", True, 1)],
+    "robot_type, mock, num_image_writer_processes", [("koch", True, 0), ("koch", True, 1)]
 )
 @require_robot
 def test_record_with_event_stop_recording(tmp_path, request, robot_type, mock, num_image_writer_processes):

tests/robots/test_robots.py

@@ -40,10 +40,7 @@ import pytest
 import torch
 
 from lerobot.common.robot_devices.robots.utils import make_robot
-from lerobot.common.robot_devices.utils import (
-    RobotDeviceAlreadyConnectedError,
-    RobotDeviceNotConnectedError,
-)
+from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 from tests.utils import TEST_ROBOT_TYPES, mock_calibration_dir, require_robot
 
 

tests/utils.py

@@ -26,9 +26,7 @@ from lerobot import available_cameras, available_motors, available_robots
 from lerobot.common.robot_devices.cameras.utils import Camera
 from lerobot.common.robot_devices.cameras.utils import make_camera as make_camera_device
 from lerobot.common.robot_devices.motors.utils import MotorsBus
-from lerobot.common.robot_devices.motors.utils import (
-    make_motors_bus as make_motors_bus_device,
-)
+from lerobot.common.robot_devices.motors.utils import make_motors_bus as make_motors_bus_device
 from lerobot.common.utils.import_utils import is_package_available
 
 DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"
@@ -287,14 +285,7 @@ def mock_calibration_dir(calibration_dir):
         "start_pos": [1442, 843, 2166, 2849, 1988, 1835],
         "end_pos": [2440, 1869, -1106, -1848, -926, 3235],
         "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
-        "motor_names": [
-            "shoulder_pan",
-            "shoulder_lift",
-            "elbow_flex",
-            "wrist_flex",
-            "wrist_roll",
-            "gripper",
-        ],
+        "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
     }
     Path(str(calibration_dir)).mkdir(parents=True, exist_ok=True)
     with open(calibration_dir / "main_follower.json", "w") as f:

tests/utils/test_logging_utils.py

@@ -18,10 +18,7 @@ from lerobot.common.utils.logging_utils import AverageMeter, MetricsTracker
 
 @pytest.fixture
 def mock_metrics():
-    return {
-        "loss": AverageMeter("loss", ":.3f"),
-        "accuracy": AverageMeter("accuracy", ":.2f"),
-    }
+    return {"loss": AverageMeter("loss", ":.3f"), "accuracy": AverageMeter("accuracy", ":.2f")}
 
 
 def test_average_meter_initialization():
@@ -61,11 +58,7 @@ def test_average_meter_str():
 
 def test_metrics_tracker_initialization(mock_metrics):
     tracker = MetricsTracker(
-        batch_size=32,
-        num_frames=1000,
-        num_episodes=50,
-        metrics=mock_metrics,
-        initial_step=10,
+        batch_size=32, num_frames=1000, num_episodes=50, metrics=mock_metrics, initial_step=10
     )
     assert tracker.steps == 10
     assert tracker.samples == 10 * 32
@@ -77,11 +70,7 @@ def test_metrics_tracker_initialization(mock_metrics):
 
 def test_metrics_tracker_step(mock_metrics):
     tracker = MetricsTracker(
-        batch_size=32,
-        num_frames=1000,
-        num_episodes=50,
-        metrics=mock_metrics,
-        initial_step=5,
+        batch_size=32, num_frames=1000, num_episodes=50, metrics=mock_metrics, initial_step=5
     )
     tracker.step()
     assert tracker.steps == 6