diff --git a/src/lerobot/robots/unitree_g1/controllers/sonic_pipeline.py b/src/lerobot/robots/unitree_g1/controllers/sonic_pipeline.py
index 329a28d85..0ba11cbeb 100644
--- a/src/lerobot/robots/unitree_g1/controllers/sonic_pipeline.py
+++ b/src/lerobot/robots/unitree_g1/controllers/sonic_pipeline.py
@@ -253,6 +253,7 @@ def compute_kp_kd():
     Ankle and waist joints get a x2 factor for extra stiffness. Returns two
     (29,) float32 arrays in IsaacLab joint order.
     """
+
     def s(k):
         return ARMATURE[k] * NATURAL_FREQ**2
 
diff --git a/src/lerobot/teleoperators/pico_headset/smpl_fk.py b/src/lerobot/teleoperators/pico_headset/smpl_fk.py
index 5dcf96786..bd28f7e75 100644
--- a/src/lerobot/teleoperators/pico_headset/smpl_fk.py
+++ b/src/lerobot/teleoperators/pico_headset/smpl_fk.py
@@ -49,9 +49,63 @@ OUTPUT_JOINT_INDEX = np.concatenate([np.arange(22), np.array([39, 54])])
 # asset. ``_SKELETON_PARENTS[i]`` is joint ``i``'s parent (-1 = root); ``_SKELETON_J``
 # holds the (55, 3) rest-pose joint positions.
 _SKELETON_PARENTS = np.array(
-    [-1, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 9, 9, 12, 13, 14, 16, 17, 18, 19, 15, 15, 15,
-     20, 25, 26, 20, 28, 29, 20, 31, 32, 20, 34, 35, 20, 37, 38, 21, 40, 41, 21, 43, 44,
-     21, 46, 47, 21, 49, 50, 21, 52, 53],
+    [
+        -1,
+        0,
+        0,
+        0,
+        1,
+        2,
+        3,
+        4,
+        5,
+        6,
+        7,
+        8,
+        9,
+        9,
+        9,
+        12,
+        13,
+        14,
+        16,
+        17,
+        18,
+        19,
+        15,
+        15,
+        15,
+        20,
+        25,
+        26,
+        20,
+        28,
+        29,
+        20,
+        31,
+        32,
+        20,
+        34,
+        35,
+        20,
+        37,
+        38,
+        21,
+        40,
+        41,
+        21,
+        43,
+        44,
+        21,
+        46,
+        47,
+        21,
+        49,
+        50,
+        21,
+        52,
+        53,
+    ],
     dtype=np.int64,
 )