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[pre-commit.ci] auto fixes from pre-commit.com hooks

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for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
2025-03-24 13:41:27 +00:00
committed by AdilZouitine
parent 2945bbb221
commit 7c05755823
123 changed files with 1161 additions and 3425 deletions
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25
lerobot/common/robot_devices/robots/mobile_manipulator.py
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@@ -271,9 +271,7 @@ class MobileManipulator:
calibration = json.load(f)
else:
print(f"Missing calibration file '{arm_calib_path}'")
calibration = run_arm_manual_calibration(
arm, self.robot_type, name, arm_type
)
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
with open(arm_calib_path, "w") as f:
@@ -303,9 +301,7 @@ class MobileManipulator:
bus.write("Torque_Enable", 0, motor_id)
# Then filter out wheels
arm_only_dict = {
k: v for k, v in bus.motors.items() if not k.startswith("wheel_")
}
arm_only_dict = {k: v for k, v in bus.motors.items() if not k.startswith("wheel_")}
if not arm_only_dict:
continue
@@ -377,9 +373,7 @@ class MobileManipulator:
if new_arm_state is not None and frames is not None:
self.last_frames = frames
remote_arm_state_tensor = torch.tensor(
new_arm_state, dtype=torch.float32
)
remote_arm_state_tensor = torch.tensor(new_arm_state, dtype=torch.float32)
self.last_remote_arm_state = remote_arm_state_tensor
present_speed = new_speed
@@ -405,10 +399,7 @@ class MobileManipulator:
def _process_present_speed(self, present_speed: dict) -> torch.Tensor:
state_tensor = torch.zeros(3, dtype=torch.int32)
if present_speed:
decoded = {
key: MobileManipulator.raw_to_degps(value)
for key, value in present_speed.items()
}
decoded = {key: MobileManipulator.raw_to_degps(value) for key, value in present_speed.items()}
if "1" in decoded:
state_tensor[0] = decoded["1"]
if "2" in decoded:
@@ -421,9 +412,7 @@ class MobileManipulator:
self, record_data: bool = False
) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]:
if not self.is_connected:
raise RobotDeviceNotConnectedError(
"MobileManipulator is not connected. Run `connect()` first."
)
raise RobotDeviceNotConnectedError("MobileManipulator is not connected. Run `connect()` first.")
speed_setting = self.speed_levels[self.speed_index]
xy_speed = speed_setting["xy"] # e.g. 0.1, 0.25, or 0.4
@@ -495,9 +484,7 @@ class MobileManipulator:
body_state[2],
) # Convert x,y to mm/s
wheel_state_tensor = torch.tensor(body_state_mm, dtype=torch.float32)
combined_state_tensor = torch.cat(
(remote_arm_state_tensor, wheel_state_tensor), dim=0
)
combined_state_tensor = torch.cat((remote_arm_state_tensor, wheel_state_tensor), dim=0)
obs_dict = {"observation.state": combined_state_tensor}