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

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

lerobot/common/robot_devices/cameras/opencv.py

@@ -31,10 +31,14 @@ from lerobot.common.utils.utils import capture_timestamp_utc
 MAX_OPENCV_INDEX = 60
 
 
-def find_cameras(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False) -> list[dict]:
+def find_cameras(
+    raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False
+) -> list[dict]:
     cameras = []
     if platform.system() == "Linux":
-        print("Linux detected. Finding available camera indices through scanning '/dev/video*' ports")
+        print(
+            "Linux detected. Finding available camera indices through scanning '/dev/video*' ports"
+        )
         possible_ports = [str(port) for port in Path("/dev").glob("video*")]
         ports = _find_cameras(possible_ports, mock=mock)
         for port in ports:
@@ -165,7 +169,9 @@ def save_images_from_cameras(
                 dt_s = time.perf_counter() - now
                 busy_wait(1 / fps - dt_s)
 
-            print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
+            print(
+                f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}"
+            )
 
             if time.perf_counter() - start_time > record_time_s:
                 break
@@ -205,7 +211,9 @@ class OpenCVCameraConfig:
         self.channels = 3
 
         if self.rotation not in [-90, None, 90, 180]:
-            raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
+            raise ValueError(
+                f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})"
+            )
 
 
 class OpenCVCamera:
@@ -247,7 +255,12 @@ class OpenCVCamera:
     ```
     """
 
-    def __init__(self, camera_index: int | str, config: OpenCVCameraConfig | None = None, **kwargs):
+    def __init__(
+        self,
+        camera_index: int | str,
+        config: OpenCVCameraConfig | None = None,
+        **kwargs,
+    ):
         if config is None:
             config = OpenCVCameraConfig()
 
@@ -261,12 +274,16 @@ class OpenCVCamera:
         if platform.system() == "Linux":
             if isinstance(self.camera_index, int):
                 self.port = Path(f"/dev/video{self.camera_index}")
-            elif isinstance(self.camera_index, str) and is_valid_unix_path(self.camera_index):
+            elif isinstance(self.camera_index, str) and is_valid_unix_path(
+                self.camera_index
+            ):
                 self.port = Path(self.camera_index)
                 # Retrieve the camera index from a potentially symlinked path
                 self.camera_index = get_camera_index_from_unix_port(self.port)
             else:
-                raise ValueError(f"Please check the provided camera_index: {camera_index}")
+                raise ValueError(
+                    f"Please check the provided camera_index: {camera_index}"
+                )
 
         self.fps = config.fps
         self.width = config.width
@@ -298,7 +315,9 @@ class OpenCVCamera:
 
     def connect(self):
         if self.is_connected:
-            raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
+            raise RobotDeviceAlreadyConnectedError(
+                f"OpenCVCamera({self.camera_index}) is already connected."
+            )
 
         if self.mock:
             import tests.mock_cv2 as cv2
@@ -309,7 +328,11 @@ class OpenCVCamera:
             # when other threads are used to save the images.
             cv2.setNumThreads(1)
 
-        camera_idx = f"/dev/video{self.camera_index}" if platform.system() == "Linux" else self.camera_index
+        camera_idx = (
+            f"/dev/video{self.camera_index}"
+            if platform.system() == "Linux"
+            else self.camera_index
+        )
         # First create a temporary camera trying to access `camera_index`,
         # and verify it is a valid camera by calling `isOpened`.
         tmp_camera = cv2.VideoCapture(camera_idx)
@@ -349,16 +372,22 @@ class OpenCVCamera:
         actual_height = self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT)
 
         # Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30)
-        if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
+        if self.fps is not None and not math.isclose(
+            self.fps, actual_fps, rel_tol=1e-3
+        ):
             # Using `OSError` since it's a broad that encompasses issues related to device communication
             raise OSError(
                 f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
             )
-        if self.width is not None and not math.isclose(self.width, actual_width, rel_tol=1e-3):
+        if self.width is not None and not math.isclose(
+            self.width, actual_width, rel_tol=1e-3
+        ):
             raise OSError(
                 f"Can't set {self.width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
             )
-        if self.height is not None and not math.isclose(self.height, actual_height, rel_tol=1e-3):
+        if self.height is not None and not math.isclose(
+            self.height, actual_height, rel_tol=1e-3
+        ):
             raise OSError(
                 f"Can't set {self.height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
             )
@@ -388,7 +417,9 @@ class OpenCVCamera:
         if not ret:
             raise OSError(f"Can't capture color image from camera {self.camera_index}.")
 
-        requested_color_mode = self.color_mode if temporary_color_mode is None else temporary_color_mode
+        requested_color_mode = (
+            self.color_mode if temporary_color_mode is None else temporary_color_mode
+        )
 
         if requested_color_mode not in ["rgb", "bgr"]:
             raise ValueError(