fix ruff

docs-requirements.txt

@@ -1,3 +1,3 @@
 # docs-requirements.txt
 hf-doc-builder @ git+https://github.com/huggingface/doc-builder.git@main
-watchdog>=6.0.0
+watchdog>=6.0.0

src/lerobot/cameras/opencv/camera_opencv.py

@@ -297,7 +297,9 @@ class OpenCVCamera(Camera):
                 f"{self} failed to set capture_height={self.capture_height} ({actual_height=}, {height_success=})."
             )
         if not height_success:
-            logger.warning(f"{self} set(CAP_PROP_FRAME_HEIGHT) returned False but {actual_height=} is correct.")
+            logger.warning(
+                f"{self} set(CAP_PROP_FRAME_HEIGHT) returned False but {actual_height=} is correct."
+            )
 
     @staticmethod
     def find_cameras() -> list[dict[str, Any]]:

src/lerobot/robots/unitree_g1/run_g1_server.py

@@ -379,14 +379,28 @@ def main() -> None:
     if args.grippers:
         try:
             grippers["L"] = build_gripper(
-                "L", args.gripper_port_left, args.gripper_send_id, args.gripper_recv_id,
+                "L",
-                args.gripper_motor_type, args.gripper_fd, args.gripper_open_deg,
+                args.gripper_port_left,
-                args.gripper_close_deg, args.gripper_kp, args.gripper_kd,
+                args.gripper_send_id,
+                args.gripper_recv_id,
+                args.gripper_motor_type,
+                args.gripper_fd,
+                args.gripper_open_deg,
+                args.gripper_close_deg,
+                args.gripper_kp,
+                args.gripper_kd,
             )
             grippers["R"] = build_gripper(
-                "R", args.gripper_port_right, args.gripper_send_id, args.gripper_recv_id,
+                "R",
-                args.gripper_motor_type, args.gripper_fd, args.gripper_open_deg,
+                args.gripper_port_right,
-                args.gripper_close_deg, args.gripper_kp, args.gripper_kd,
+                args.gripper_send_id,
+                args.gripper_recv_id,
+                args.gripper_motor_type,
+                args.gripper_fd,
+                args.gripper_open_deg,
+                args.gripper_close_deg,
+                args.gripper_kp,
+                args.gripper_kd,
             )
         except Exception as e:  # noqa: BLE001
             print(f"WARNING: gripper setup failed ({e}); continuing without grippers.")

src/lerobot/teleoperators/unitree_g1/exo_serial.py

@@ -147,7 +147,9 @@ class ExoskeletonArm:
         smoothed: dict[str, float] = {}
         for joint, value in angles.items():
             prev = self._ema.get(joint)
-            self._ema[joint] = value if prev is None else self._ema_alpha * value + (1 - self._ema_alpha) * prev
+            self._ema[joint] = (
+                value if prev is None else self._ema_alpha * value + (1 - self._ema_alpha) * prev
+            )
             smoothed[joint] = self._ema[joint]
         return smoothed
 

src/lerobot/teleoperators/unitree_g1/unitree_g1.py

@@ -295,7 +295,9 @@ class UnitreeG1Teleoperator(Teleoperator):
         gripper_buttons = self._exo_gripper_buttons(left_raw, right_raw)
         return {**joint_action, **rc.remote_action, **gripper_buttons}
 
-    def _exo_gripper_buttons(self, left_raw: list[int] | None, right_raw: list[int] | None) -> dict[str, float]:
+    def _exo_gripper_buttons(
+        self, left_raw: list[int] | None, right_raw: list[int] | None
+    ) -> dict[str, float]:
         """Exo joystick clicks as button flags: L3 (left stick) -> button.4, R3 (right) -> button.0.
 
         Reads the raw joystick-button ADC channel directly (pressed pulls it below mid-scale),