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fix ruff

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This commit is contained in:
Martino Russi
2026-07-15 16:42:46 +02:00
parent 1c88e26c6d
commit 5046e2df32
1 changed files with 62 additions and 2 deletions
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src/lerobot/robots/unitree_g1/g1_utils.py
+62 -2
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@@ -27,11 +27,71 @@ NUM_MOTORS = 29
# IsaacLab (policy/training order) and MuJoCo (deploy order). ``a[ISAACLAB_TO_MUJOCO]`` # IsaacLab (policy/training order) and MuJoCo (deploy order). ``a[ISAACLAB_TO_MUJOCO]``
# reorders an IsaacLab-ordered vector into MuJoCo order, and vice-versa. # reorders an IsaacLab-ordered vector into MuJoCo order, and vice-versa.
ISAACLAB_TO_MUJOCO = np.array( ISAACLAB_TO_MUJOCO = np.array(
[0, 3, 6, 9, 13, 17, 1, 4, 7, 10, 14, 18, 2, 5, 8, 11, 15, 19, 21, 23, 25, 27, 12, 16, 20, 22, 24, 26, 28], [
0,
3,
6,
9,
13,
17,
1,
4,
7,
10,
14,
18,
2,
5,
8,
11,
15,
19,
21,
23,
25,
27,
12,
16,
20,
22,
24,
26,
28,
],
dtype=np.int32, dtype=np.int32,
) )
MUJOCO_TO_ISAACLAB = np.array( MUJOCO_TO_ISAACLAB = np.array(
[0, 6, 12, 1, 7, 13, 2, 8, 14, 3, 9, 15, 22, 4, 10, 16, 23, 5, 11, 17, 24, 18, 25, 19, 26, 20, 27, 21, 28], [
0,
6,
12,
1,
7,
13,
2,
8,
14,
3,
9,
15,
22,
4,
10,
16,
23,
5,
11,
17,
24,
18,
25,
19,
26,
20,
27,
21,
28,
],
dtype=np.int32, dtype=np.int32,
) )