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

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pre-commit-ci[bot]
2025-04-18 14:22:10 +00:00
parent c1ee25d9f7
commit 0d70f0b85c
2 changed files with 9 additions and 6 deletions
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2
lerobot/scripts/control_robot.py
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@@ -167,7 +167,7 @@ from lerobot.common.robot_devices.control_utils import (
warmup_record, warmup_record,
) )
from lerobot.common.robot_devices.robots.utils import Robot, make_robot_from_config from lerobot.common.robot_devices.robots.utils import Robot, make_robot_from_config
from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect from lerobot.common.robot_devices.utils import safe_disconnect
from lerobot.common.utils.utils import has_method, init_logging, log_say from lerobot.common.utils.utils import has_method, init_logging, log_say
from lerobot.configs import parser from lerobot.configs import parser

13
lerobot/scripts/server/gym_manipulator.py
View File

@@ -346,7 +346,6 @@ class AddCurrentToObservation(gym.ObservationWrapper):
old_high = self.observation_space["observation.state"].high old_high = self.observation_space["observation.state"].high
old_shape = self.observation_space["observation.state"].shape old_shape = self.observation_space["observation.state"].shape
new_low = np.concatenate([old_low, np.zeros(num_dof)]) new_low = np.concatenate([old_low, np.zeros(num_dof)])
new_high = np.concatenate([old_high, np.ones(num_dof) * max_current]) new_high = np.concatenate([old_high, np.ones(num_dof) * max_current])
@@ -359,9 +358,10 @@ class AddCurrentToObservation(gym.ObservationWrapper):
dtype=np.float32, dtype=np.float32,
) )
def observation(self, observation): def observation(self, observation):
present_current = self.unwrapped.robot.follower_arms["main"].read("Present_Current").astype(np.float32) present_current = (
self.unwrapped.robot.follower_arms["main"].read("Present_Current").astype(np.float32)
)
observation["observation.state"] = torch.cat( observation["observation.state"] = torch.cat(
[observation["observation.state"], torch.from_numpy(present_current)], dim=-1 [observation["observation.state"], torch.from_numpy(present_current)], dim=-1
) )
@@ -859,7 +859,10 @@ class GripperActionWrapper(gym.ActionWrapper):
action, is_intervention = action action, is_intervention = action
if self.gripper_sleep > 0.0: if self.gripper_sleep > 0.0:
if self.last_gripper_action is not None and time.perf_counter() - self.last_gripper_action_time < self.gripper_sleep: if (
self.last_gripper_action is not None
and time.perf_counter() - self.last_gripper_action_time < self.gripper_sleep
):
action[-1] = self.last_gripper_action action[-1] = self.last_gripper_action
else: else:
self.last_gripper_action_time = time.perf_counter() self.last_gripper_action_time = time.perf_counter()
@@ -1506,7 +1509,7 @@ def main(cfg: EnvConfig):
dt_s = time.perf_counter() - start_loop_s dt_s = time.perf_counter() - start_loop_s
busy_wait(1 / cfg.fps - dt_s) busy_wait(1 / cfg.fps - dt_s)
logging.info(f"Success after 20 steps {sucesses}") logging.info(f"Success after 20 steps {sucesses}")
logging.info(f"success rate {sum(sucesses) / len(sucesses)}") logging.info(f"success rate {sum(sucesses) / len(sucesses)}")