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chore(mypy-compliant): Ensure the model module passes MyPy type checks (#1782)

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* feat(mypy-compliant): Ensure the model module passes MyPy type checks

* fix

* uncomment pyproject.toml for model module

* fix

* fix

---------

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Huy
2025-10-19 23:35:21 +02:00
committed by GitHub
parent 88100943ef
commit a5ca206c49
2 changed files with 15 additions and 12 deletions
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7
pyproject.toml
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@@ -282,7 +282,6 @@ ignore_errors = true
[[tool.mypy.overrides]] [[tool.mypy.overrides]]
module = "lerobot.envs.*" module = "lerobot.envs.*"
# Enable type checking only for the envs module
ignore_errors = false ignore_errors = false
@@ -298,9 +297,9 @@ ignore_errors = false
# module = "lerobot.optim.*" # module = "lerobot.optim.*"
# ignore_errors = false # ignore_errors = false
# [[tool.mypy.overrides]] [[tool.mypy.overrides]]
# module = "lerobot.model.*" module = "lerobot.model.*"
# ignore_errors = false ignore_errors = false
# [[tool.mypy.overrides]] # [[tool.mypy.overrides]]
# module = "lerobot.processor.*" # module = "lerobot.processor.*"

20
src/lerobot/model/kinematics.py
View File

@@ -22,18 +22,18 @@ class RobotKinematics:
self, self,
urdf_path: str, urdf_path: str,
target_frame_name: str = "gripper_frame_link", target_frame_name: str = "gripper_frame_link",
joint_names: list[str] = None, joint_names: list[str] | None = None,
): ):
""" """
Initialize placo-based kinematics solver. Initialize placo-based kinematics solver.
Args: Args:
urdf_path: Path to the robot URDF file urdf_path (str): Path to the robot URDF file
target_frame_name: Name of the end-effector frame in the URDF target_frame_name (str): Name of the end-effector frame in the URDF
joint_names: List of joint names to use for the kinematics solver joint_names (list[str] | None): List of joint names to use for the kinematics solver
""" """
try: try:
import placo import placo # type: ignore[import-not-found] # C++ library with Python bindings, no type stubs available. TODO: Create stub file or request upstream typing support.
except ImportError as e: except ImportError as e:
raise ImportError( raise ImportError(
"placo is required for RobotKinematics. " "placo is required for RobotKinematics. "
@@ -52,7 +52,7 @@ class RobotKinematics:
# Initialize frame task for IK # Initialize frame task for IK
self.tip_frame = self.solver.add_frame_task(self.target_frame_name, np.eye(4)) self.tip_frame = self.solver.add_frame_task(self.target_frame_name, np.eye(4))
def forward_kinematics(self, joint_pos_deg): def forward_kinematics(self, joint_pos_deg: np.ndarray) -> np.ndarray:
""" """
Compute forward kinematics for given joint configuration given the target frame name in the constructor. Compute forward kinematics for given joint configuration given the target frame name in the constructor.
@@ -77,8 +77,12 @@ class RobotKinematics:
return self.robot.get_T_world_frame(self.target_frame_name) return self.robot.get_T_world_frame(self.target_frame_name)
def inverse_kinematics( def inverse_kinematics(
self, current_joint_pos, desired_ee_pose, position_weight=1.0, orientation_weight=0.01 self,
): current_joint_pos: np.ndarray,
desired_ee_pose: np.ndarray,
position_weight: float = 1.0,
orientation_weight: float = 0.01,
) -> np.ndarray:
""" """
Compute inverse kinematics using placo solver. Compute inverse kinematics using placo solver.