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

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

lerobot/scripts/server/maniskill_manipulator.py

@@ -1,7 +1,6 @@
 import logging
 import time
-from dataclasses import dataclass, field
-from typing import Any, Dict, Optional, Tuple
+from typing import Any
 
 import einops
 import gymnasium as gym
@@ -10,10 +9,8 @@ import torch
 from mani_skill.utils.wrappers.record import RecordEpisode
 from mani_skill.vector.wrappers.gymnasium import ManiSkillVectorEnv
 
-from lerobot.common.envs.configs import EnvConfig, ManiskillEnvConfig
+from lerobot.common.envs.configs import ManiskillEnvConfig
 from lerobot.configs import parser
-from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.common.constants import ACTION, OBS_IMAGE, OBS_ROBOT
 
 
 def preprocess_maniskill_observation(
@@ -53,9 +50,6 @@ def preprocess_maniskill_observation(
     return return_observations
 
 
-
-
-
 class ManiSkillObservationWrapper(gym.ObservationWrapper):
     def __init__(self, env, device: torch.device = "cuda"):
         super().__init__(env)
@@ -122,6 +116,7 @@ class ManiSkillMultiplyActionWrapper(gym.Wrapper):
 
 class BatchCompatibleWrapper(gym.ObservationWrapper):
     """Ensures observations are batch-compatible by adding a batch dimension if necessary."""
+
     def __init__(self, env):
         super().__init__(env)
 
@@ -136,6 +131,7 @@ class BatchCompatibleWrapper(gym.ObservationWrapper):
 
 class TimeLimitWrapper(gym.Wrapper):
     """Adds a time limit to the environment based on fps and control_time."""
+
     def __init__(self, env, control_time_s, fps):
         super().__init__(env)
         self.control_time_s = control_time_s
@@ -146,10 +142,10 @@ class TimeLimitWrapper(gym.Wrapper):
     def step(self, action):
         obs, reward, terminated, truncated, info = self.env.step(action)
         self.current_step += 1
-        
+
         if self.current_step >= self.max_episode_steps:
             terminated = True
-            
+
         return obs, reward, terminated, truncated, info
 
     def reset(self, *, seed=None, options=None):
@@ -190,18 +186,18 @@ def make_maniskill(
             save_video=True,
             video_fps=30,
         )
-    
+
     # Add observation and image processing
     env = ManiSkillObservationWrapper(env, device=cfg.device)
     env = ManiSkillVectorEnv(env, ignore_terminations=True, auto_reset=False)
     env._max_episode_steps = env.max_episode_steps = cfg.episode_length
     env.unwrapped.metadata["render_fps"] = cfg.fps
-    
+
     # Add compatibility wrappers
     env = ManiSkillCompat(env)
     env = ManiSkillActionWrapper(env)
     env = ManiSkillMultiplyActionWrapper(env, multiply_factor=0.03)  # Scale actions for better control
-    
+
     return env
 
 
@@ -210,29 +206,29 @@ def main(cfg: ManiskillEnvConfig):
     """Main function to run the ManiSkill environment."""
     # Create the ManiSkill environment
     env = make_maniskill(cfg, n_envs=1)
-    
+
     # Reset the environment
     obs, info = env.reset()
-    
+
     # Run a simple interaction loop
     sum_reward = 0
     for i in range(100):
         # Sample a random action
         action = env.action_space.sample()
-        
+
         # Step the environment
         start_time = time.perf_counter()
         obs, reward, terminated, truncated, info = env.step(action)
         step_time = time.perf_counter() - start_time
         sum_reward += reward
         # Log information
-        
+
         # Reset if episode terminated
         if terminated or truncated:
             logging.info(f"Step {i}, reward: {sum_reward}, step time: {step_time}s")
             sum_reward = 0
             obs, info = env.reset()
-    
+
     # Close the environment
     env.close()
 
@@ -243,6 +239,10 @@ def main(cfg: ManiskillEnvConfig):
 
 if __name__ == "__main__":
     import draccus
+
     config = ManiskillEnvConfig()
     draccus.set_config_type("json")
-    draccus.dump(config=config, stream=open(file='run_config.json', mode='w'), )
+    draccus.dump(
+        config=config,
+        stream=open(file="run_config.json", mode="w"),
+    )