style nit

docs/source/hilserl.mdx

@@ -500,6 +500,7 @@ To setup the SO101 leader, you need to set the `control_mode` to `"leader"` and
 ```
 
 The `leader_follower_mode` enables the leader arm to automatically track the follower's position when you're not intervening. This creates a seamless teleoperation experience where:
+
 - When not intervening: the leader arm follows the follower arm's position
 - When intervening (press `space`): you control the leader arm, and the follower tracks it in end-effector space
 

src/lerobot/processor/leader_follower_processor.py

@@ -14,16 +14,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from dataclasses import dataclass
+
 import numpy as np
 import torch
 
-from dataclasses import dataclass
-
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor.pipeline import EnvTransition, ProcessorStepRegistry, TransitionKey
-from lerobot.teleoperators.utils import TeleopEvents
-from lerobot.teleoperators import Teleoperator
 from lerobot.robots import Robot
+from lerobot.teleoperators import Teleoperator
+from lerobot.teleoperators.utils import TeleopEvents
 
 
 @ProcessorStepRegistry.register("leader_follower_processor")
@@ -53,10 +53,7 @@ class LeaderFollowerProcessor:
         raw_joint_pos = transition.get(TransitionKey.COMPLEMENTARY_DATA, {}).get("raw_joint_positions")
         if raw_joint_pos is not None:
             # Send follower position to leader (for follow mode)
-            follower_action = {
+            follower_action = {f"{motor}.pos": float(raw_joint_pos[motor]) for motor in self.motor_names}
-                f"{motor}.pos": float(raw_joint_pos[motor]) 
-                for motor in self.motor_names
-            }
             self.leader_device.send_action(follower_action)
 
         # Only compute EE action if intervention is active
@@ -80,9 +77,7 @@ class LeaderFollowerProcessor:
                 # Compute normalized EE delta
                 if self.end_effector_step_sizes is not None:
                     ee_delta = np.clip(
-                        leader_ee - follower_ee, 
+                        leader_ee - follower_ee, -self.end_effector_step_sizes, self.end_effector_step_sizes
-                        -self.end_effector_step_sizes, 
-                        self.end_effector_step_sizes
                     )
                     ee_delta_normalized = ee_delta / self.end_effector_step_sizes
                 else:
@@ -91,9 +86,7 @@ class LeaderFollowerProcessor:
                 # Handle gripper
                 if self.use_gripper and len(leader_pos) > 3:
                     if self.prev_leader_gripper is None:
-                        self.prev_leader_gripper = np.clip(
+                        self.prev_leader_gripper = np.clip(leader_pos[-1], 0, self.max_gripper_pos)
-                            leader_pos[-1], 0, self.max_gripper_pos
-                        )
 
                     leader_gripper = leader_pos[-1]
                     gripper_delta = leader_gripper - self.prev_leader_gripper

src/lerobot/scripts/rl/gym_manipulator.py

@@ -467,11 +467,13 @@ def make_processors(
     action_pipeline_steps = [
         AddTeleopActionAsComplimentaryData(teleop_device=teleop_device),
         AddTeleopEventsAsInfo(teleop_device=teleop_device),
-        AddRobotObservationAsComplimentaryData(robot=env.robot)
+        AddRobotObservationAsComplimentaryData(robot=env.robot),
     ]
     # Check for leader control mode
     if control_mode == "leader":
-        assert isinstance(teleop_device, SO101LeaderFollower), "Leader control mode requires SO101LeaderFollower teleop device"
+        assert isinstance(teleop_device, SO101LeaderFollower), (
+            "Leader control mode requires SO101LeaderFollower teleop device"
+        )
 
         action_pipeline_steps.append(
             LeaderFollowerProcessor(
@@ -479,11 +481,15 @@ def make_processors(
                 motor_names=motor_names,
                 robot=env.robot,
                 kinematics=kinematics_solver,
-                end_effector_step_sizes=np.array(list(cfg.processor.inverse_kinematics.end_effector_step_sizes.values())),
+                end_effector_step_sizes=np.array(
+                    list(cfg.processor.inverse_kinematics.end_effector_step_sizes.values())
+                ),
                 use_gripper=cfg.processor.gripper.use_gripper if cfg.processor.gripper is not None else False,
-                max_gripper_pos=cfg.processor.max_gripper_pos if cfg.processor.max_gripper_pos is not None else 100.0,
+                max_gripper_pos=cfg.processor.max_gripper_pos
-            )
+                if cfg.processor.max_gripper_pos is not None
+                else 100.0,
             )
+        )
         # Standard teleop mode (gamepad, keyboard, etc.)
     action_pipeline_steps.append(
         InterventionActionProcessor(

src/lerobot/teleoperators/so101_leader/so101_leader_follower.py

@@ -85,6 +85,7 @@ class SO101LeaderFollower(SO101Leader):
 
     def _start_keyboard_listener(self):
         """Start keyboard listener thread for intervention control."""
+
         def on_press(key):
             try:
                 if key == keyboard.Key.space:
@@ -94,10 +95,10 @@ class SO101LeaderFollower(SO101Leader):
                     logger.info(f"Toggled to {state}")
                 elif key == keyboard.Key.esc:
                     self.keyboard_events["failure"] = True
-                elif hasattr(key, 'char'):
+                elif hasattr(key, "char"):
-                    if key.char == 's':
+                    if key.char == "s":
                         self.keyboard_events["success"] = True
-                    elif key.char == 'r':
+                    elif key.char == "r":
                         self.keyboard_events["rerecord"] = True
             except Exception as e:
                 logger.error(f"Error handling key press: {e}")
@@ -204,9 +205,4 @@ class SO101LeaderFollower(SO101Leader):
         self.is_intervening = False
         self.leader_torque_enabled = True
         self.leader_tracking_error_queue.clear()
-        self.keyboard_events = {
+        self.keyboard_events = {"intervention": False, "success": False, "failure": False, "rerecord": False}
-            "intervention": False,
-            "success": False,
-            "failure": False,
-            "rerecord": False
-            }