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Ignore spellcheck for ik variable

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AdilZouitine
2025-04-22 13:19:59 +00:00
parent 5231752487
commit b77cee7cc6
1 changed files with 2 additions and 2 deletions
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4
lerobot/scripts/server/kinematics.py
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@@ -213,7 +213,7 @@ class RobotKinematics:
) )
# Forearm origin + centroid transform # Forearm origin + centroid transform
self.X_FoFc = self._create_translation_matrix(x=0.036) self.X_FoFc = self._create_translation_matrix(x=0.036) # spellchecker:disable-line
# 0-position forearm frame pose wrt base # 0-position forearm frame pose wrt base
self.X_BF = self._create_translation_matrix( self.X_BF = self._create_translation_matrix(
@@ -301,7 +301,7 @@ class RobotKinematics:
@ screw_axis_to_transform(self.S_BS, robot_pos_rad[0]) @ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
@ screw_axis_to_transform(self.S_BH, robot_pos_rad[1]) @ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
@ screw_axis_to_transform(self.S_BF, robot_pos_rad[2]) @ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
@ self.X_FoFc @ self.X_FoFc # spellchecker:disable-line
@ self.X_BF @ self.X_BF
) )