Merge branch 'rm-controls:master' into legged_manual_new

Author: YoujianWu

.pre-commit-config.yaml

@@ -28,7 +28,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 20.8b1
+    rev: 24.4.0
     hooks:
       - id: black