Clean code

src/lerobot/cameras/reachy2_camera/__init__.py

@@ -12,5 +12,5 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .reachy2_camera import Reachy2Camera
 from .configuration_reachy2_camera import Reachy2CameraConfig
+from .reachy2_camera import Reachy2Camera

src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py

@@ -60,6 +60,4 @@ class Reachy2CameraConfig(CameraConfig):
 
     def __post_init__(self):
         if self.color_mode not in ["rgb", "bgr"]:
-            raise ValueError(
-                f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
-            )
+            raise ValueError(f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided.")

src/lerobot/cameras/reachy2_camera/reachy2_camera.py

@@ -26,13 +26,14 @@ from threading import Event, Lock, Thread
 from typing import Any
 
 # Fix MSMF hardware transform compatibility for Windows before importing cv2
-if platform.system() == "Windows" and "OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS" not in os.environ:
+if (
+    platform.system() == "Windows"
+    and "OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS" not in os.environ
+):
     os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
 import cv2
 import numpy as np
-
 from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-
 from reachy2_sdk import ReachySDK
 from reachy2_sdk.media.camera import CameraView
 from reachy2_sdk.media.camera_manager import CameraManager
@@ -40,7 +41,6 @@ from reachy2_sdk.media.camera_manager import CameraManager
 from ..camera import Camera
 from .configuration_reachy2_camera import ColorMode, Reachy2CameraConfig
 
-
 logger = logging.getLogger(__name__)
 
 
@@ -49,7 +49,7 @@ class Reachy2Camera(Camera):
     Manages Reachy 2 camera using Reachy 2 CameraManager.
 
     This class provides a high-level interface to connect to, configure, and read
-    frames from Reachy 2 cameras. It supports both synchronous and asynchronous 
+    frames from Reachy 2 cameras. It supports both synchronous and asynchronous
     frame reading.
 
     An Reachy2Camera instance requires a camera name (e.g., "teleop") and an image
@@ -82,12 +82,22 @@ class Reachy2Camera(Camera):
         self.new_frame_event: Event = Event()
 
     def __str__(self) -> str:
-        return f"{self.__class__.__name__}({self.config.name}, {self.config.image_type})"
+        return (
+            f"{self.__class__.__name__}({self.config.name}, {self.config.image_type})"
+        )
 
     @property
     def is_connected(self) -> bool:
         """Checks if the camera is currently connected and opened."""
-        return (self.reachy.is_connected() and self.reachy.cameras.teleop is not None and self.reachy.cameras.depth is not None) if self.reachy is not None else False
+        return (
+            (
+                self.reachy.is_connected()
+                and self.reachy.cameras.teleop is not None
+                and self.reachy.cameras.depth is not None
+            )
+            if self.reachy is not None
+            else False
+        )
 
     def connect(self, warmup: bool = True):
         """
@@ -95,7 +105,9 @@ class Reachy2Camera(Camera):
         """
         self.reachy = ReachySDK(self.config.ip_address)
 
-        self.cam_manager = CameraManager(host=self.config.ip_address, port=self.config.port)
+        self.cam_manager = CameraManager(
+            host=self.config.ip_address, port=self.config.port
+        )
         self.cam_manager.initialize_cameras()
 
         logger.info(f"{self} connected.")
@@ -139,9 +151,13 @@ class Reachy2Camera(Camera):
 
         if self.config.name == "teleop" and hasattr(self.cam_manager, "teleop"):
             if self.config.image_type == "left":
-                frame = self.cam_manager.teleop.get_frame(CameraView.LEFT, size=(640, 480))[0]
+                frame = self.cam_manager.teleop.get_frame(
+                    CameraView.LEFT, size=(640, 480)
+                )[0]
             elif self.config.image_type == "right":
-                frame = self.cam_manager.teleop.get_frame(CameraView.RIGHT, size=(640, 480))[0]
+                frame = self.cam_manager.teleop.get_frame(
+                    CameraView.RIGHT, size=(640, 480)
+                )[0]
         elif self.config.name == "depth" and hasattr(self.cam_manager, "depth"):
             if self.config.image_type == "depth":
                 frame = self.cam_manager.depth.get_depth_frame()[0]
@@ -181,7 +197,9 @@ class Reachy2Camera(Camera):
             except DeviceNotConnectedError:
                 break
             except Exception as e:
-                logger.warning(f"Error reading frame in background thread for {self}: {e}")
+                logger.warning(
+                    f"Error reading frame in background thread for {self}: {e}"
+                )
 
     def _start_read_thread(self) -> None:
         """Starts or restarts the background read thread if it's not running."""
@@ -245,7 +263,9 @@ class Reachy2Camera(Camera):
             self.new_frame_event.clear()
 
         if frame is None:
-            raise RuntimeError(f"Internal error: Event set but no frame available for {self}.")
+            raise RuntimeError(
+                f"Internal error: Event set but no frame available for {self}."
+            )
 
         return frame
 

src/lerobot/cameras/reachy2_camera/test_reachy2_camera.py

@@ -1,6 +1,6 @@
-from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
 import time
 
+from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
 
 camera_config = Reachy2CameraConfig(name="teleop", image_type="left")
 camera = Reachy2Camera(camera_config)

src/lerobot/robots/reachy2/robot_reachy2.py

@@ -220,7 +220,7 @@ class Reachy2Robot(Robot):
 
     def disconnect(self) -> None:
         if self.reachy is not None:
+            for cam in self.cameras.values():
+                cam.disconnect()
             self.reachy.turn_off_smoothly()
             self.reachy.disconnect()
-        for cam in self.cameras.values():
-            cam.disconnect()