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style: apply ruff format to sonic_pipeline and smpl_fk

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-14 14:46:05 +02:00
parent 806d28a883
commit 4be438161b
2 changed files with 58 additions and 3 deletions
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src/lerobot/robots/unitree_g1/controllers/sonic_pipeline.py
+1
View File
@@ -253,6 +253,7 @@ def compute_kp_kd():
Ankle and waist joints get a x2 factor for extra stiffness. Returns two Ankle and waist joints get a x2 factor for extra stiffness. Returns two
(29,) float32 arrays in IsaacLab joint order. (29,) float32 arrays in IsaacLab joint order.
""" """
def s(k): def s(k):
return ARMATURE[k] * NATURAL_FREQ**2 return ARMATURE[k] * NATURAL_FREQ**2
src/lerobot/teleoperators/pico_headset/smpl_fk.py
+57 -3
View File
@@ -49,9 +49,63 @@ OUTPUT_JOINT_INDEX = np.concatenate([np.arange(22), np.array([39, 54])])
# asset. ``_SKELETON_PARENTS[i]`` is joint ``i``'s parent (-1 = root); ``_SKELETON_J`` # asset. ``_SKELETON_PARENTS[i]`` is joint ``i``'s parent (-1 = root); ``_SKELETON_J``
# holds the (55, 3) rest-pose joint positions. # holds the (55, 3) rest-pose joint positions.
_SKELETON_PARENTS = np.array( _SKELETON_PARENTS = np.array(
[-1, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 9, 9, 12, 13, 14, 16, 17, 18, 19, 15, 15, 15, [
20, 25, 26, 20, 28, 29, 20, 31, 32, 20, 34, 35, 20, 37, 38, 21, 40, 41, 21, 43, 44, -1,
21, 46, 47, 21, 49, 50, 21, 52, 53], 0,
0,
0,
1,
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21,
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21,
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21,
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21,
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],
dtype=np.int64, dtype=np.int64,
) )