diff --git a/src/lerobot/robots/unitree_g1/README.md b/src/lerobot/robots/unitree_g1/README.md
index 5af190d78..d1568572e 100644
--- a/src/lerobot/robots/unitree_g1/README.md
+++ b/src/lerobot/robots/unitree_g1/README.md
@@ -10,11 +10,11 @@ deploy stack (no `gear_sonic`/torch dependency).
 
 Selected with `--robot.controller=<ClassName>`:
 
-| Controller                     | Purpose                                                                               |
-| ------------------------------ | ------------------------------------------------------------------------------------- |
+| Controller                     | Purpose                                                                                    |
+| ------------------------------ | ------------------------------------------------------------------------------------------ |
 | `SonicWholeBodyController`     | SONIC whole-body: locomotion (mode 0), 3-point VR teleop (mode 1), SMPL imitation (mode 2) |
-| `GrootLocomotionController`    | GR00T locomotion policy                                                               |
-| `HolosomaLocomotionController` | Holosoma locomotion policy                                                            |
+| `GrootLocomotionController`    | GR00T locomotion policy                                                                    |
+| `HolosomaLocomotionController` | Holosoma locomotion policy                                                                 |
 
 On startup the controller **interpolates** from the robot's measured pose into the
 policy's commanded target over ~3 s (no snap), and on disconnect (Ctrl-C) it performs a
diff --git a/src/lerobot/teleoperators/pico_headset/smpl_fk.py b/src/lerobot/teleoperators/pico_headset/smpl_fk.py
index ab3b89af4..235b19932 100644
--- a/src/lerobot/teleoperators/pico_headset/smpl_fk.py
+++ b/src/lerobot/teleoperators/pico_headset/smpl_fk.py
@@ -366,9 +366,7 @@ def compute_3point_from_devices(
 # equals this configuration, so these constants are the measured-q targets for the
 # nominal case. (Per-frame *live* measured q would need a reverse controller->publisher
 # feedback channel; not wired.)
-_G1_NEUTRAL_WRIST_POS = np.array(
-    [[0.2232, 0.2177, -0.1555], [0.2232, -0.2177, -0.1555]], np.float64
-)
+_G1_NEUTRAL_WRIST_POS = np.array([[0.2232, 0.2177, -0.1555], [0.2232, -0.2177, -0.1555]], np.float64)
 # Wrist neutral orientations (scalar-first w, x, y, z) at ``default_angles`` — NOT
 # identity: the wrists are rolled/pitched in the standing pose. Matches gear_sonic
 # using ``g1_lwrist_rot`` / ``g1_rwrist_rot`` from FK (not identity) as the rotation