black + isort

src/lerobot/robots/reachy2/configuration_reachy2.py

@@ -12,11 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 
 from lerobot.cameras import CameraConfig
-from lerobot.cameras.reachy2_camera import Reachy2CameraConfig
 from lerobot.cameras.configs import ColorMode, Cv2Rotation
+from lerobot.cameras.reachy2_camera import Reachy2CameraConfig
 
 from ..config import RobotConfig
 
@@ -51,33 +51,31 @@ class Reachy2RobotConfig(RobotConfig):
     with_right_teleop_camera: bool = True
     with_torso_camera: bool = False
 
-    mock: bool = False
-
     def __post_init__(self):
         # Add cameras
         self.cameras: dict[str, CameraConfig] = {}
         if self.with_left_teleop_camera:
             self.cameras["teleop_left"] = Reachy2CameraConfig(
-                        name="teleop",
+                name="teleop",
-                        image_type="left",
+                image_type="left",
-                        ip_address=self.ip_address,
+                ip_address=self.ip_address,
-                        fps=30,
+                fps=30,
-                        width=640,
+                width=640,
-                        height=480,
+                height=480,
-                        color_mode=ColorMode.RGB,
+                color_mode=ColorMode.RGB,
-                        rotation=Cv2Rotation.NO_ROTATION
+                rotation=Cv2Rotation.NO_ROTATION,
-                )
+            )
         if self.with_right_teleop_camera:
             self.cameras["teleop_right"] = Reachy2CameraConfig(
-                        name="teleop",
+                name="teleop",
-                        image_type="right",
+                image_type="right",
-                        ip_address=self.ip_address,
+                ip_address=self.ip_address,
-                        fps=30,
+                fps=30,
-                        width=640,
+                width=640,
-                        height=480,
+                height=480,
-                        color_mode=ColorMode.RGB,
+                color_mode=ColorMode.RGB,
-                        rotation=Cv2Rotation.NO_ROTATION
+                rotation=Cv2Rotation.NO_ROTATION,
-                )
+            )
         if self.with_torso_camera:
             self.cameras["torso_rgb"] = Reachy2CameraConfig(
                 name="depth",
@@ -87,7 +85,7 @@ class Reachy2RobotConfig(RobotConfig):
                 width=640,
                 height=480,
                 color_mode=ColorMode.RGB,
-                rotation=Cv2Rotation.NO_ROTATION
+                rotation=Cv2Rotation.NO_ROTATION,
             )
 
         super().__post_init__()

src/lerobot/robots/reachy2/robot_reachy2.py

@@ -15,12 +15,11 @@
 # limitations under the License.
 
 import time
-
-import numpy as np
-from reachy2_sdk import ReachySDK
 from typing import Any
 
+import numpy as np
 from lerobot.cameras.utils import make_cameras_from_configs
+from reachy2_sdk import ReachySDK
 
 from ..robot import Robot
 from .configuration_reachy2 import Reachy2RobotConfig
@@ -98,20 +97,21 @@ class Reachy2Robot(Robot):
 
     @property
     def camera_features(self) -> dict[str, dict]:
-        return {
+        return {cam: (self.cameras[cam].height, self.cameras[cam].width, 3) for cam in self.cameras}
-            cam: (self.cameras[cam].height, self.cameras[cam].width, 3) for cam in self.cameras
-        }
 
     @property
     def motors_features(self) -> dict:
         if self.config.with_mobile_base:
-            return {**dict.fromkeys(
+            return {
-                        self.joints_dict.keys(),
+                **dict.fromkeys(
-                        float,
+                    self.joints_dict.keys(),
-                    ), **dict.fromkeys(
+                    float,
-                        REACHY2_VEL.keys(),
+                ),
-                        float,
+                **dict.fromkeys(
-                    )}
+                    REACHY2_VEL.keys(),
+                    float,
+                ),
+            }
         else:
             return dict.fromkeys(self.joints_dict.keys(), float)
 

src/lerobot/robots/reachy2/test_reachy2.py

@@ -1,6 +1,7 @@
-from lerobot.robots.reachy2 import Reachy2Robot, Reachy2RobotConfig
 import time
 
+from lerobot.robots.reachy2 import Reachy2Robot, Reachy2RobotConfig
+
 # {lerobot_keys: reachy2_sdk_keys}
 REACHY2_JOINTS = {
     "neck_yaw.pos": "head.neck.yaw",

src/lerobot/robots/reachy2/test_robot_client.py

@@ -1,10 +1,9 @@
 import threading
-from lerobot.scripts.server.configs import RobotClientConfig
+
 from lerobot.robots.reachy2 import Reachy2Robot, Reachy2RobotConfig
-
+from lerobot.scripts.server.configs import RobotClientConfig
-from lerobot.scripts.server.robot_client import RobotClient
 from lerobot.scripts.server.helpers import visualize_action_queue_size
-
+from lerobot.scripts.server.robot_client import RobotClient
 
 robot_config = Reachy2RobotConfig(
     ip_address="192.168.0.199",