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fix ruff

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This commit is contained in:
Martino Russi
2026-07-18 13:22:53 +02:00
parent 1837be51bf
commit 70e157e00f
2 changed files with 5 additions and 7 deletions
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src/lerobot/robots/unitree_g1/README.md
+4 -4
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@@ -10,11 +10,11 @@ deploy stack (no `gear_sonic`/torch dependency).
Selected with `--robot.controller=<ClassName>`:
| Controller | Purpose |
| ------------------------------ | ------------------------------------------------------------------------------------- |
| Controller | Purpose |
| ------------------------------ | ------------------------------------------------------------------------------------------ |
| `SonicWholeBodyController` | SONIC whole-body: locomotion (mode 0), 3-point VR teleop (mode 1), SMPL imitation (mode 2) |
| `GrootLocomotionController` | GR00T locomotion policy |
| `HolosomaLocomotionController` | Holosoma locomotion policy |
| `GrootLocomotionController` | GR00T locomotion policy |
| `HolosomaLocomotionController` | Holosoma locomotion policy |
On startup the controller **interpolates** from the robot's measured pose into the
policy's commanded target over ~3 s (no snap), and on disconnect (Ctrl-C) it performs a
src/lerobot/teleoperators/pico_headset/smpl_fk.py
+1 -3
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@@ -366,9 +366,7 @@ def compute_3point_from_devices(
# equals this configuration, so these constants are the measured-q targets for the
# nominal case. (Per-frame *live* measured q would need a reverse controller->publisher
# feedback channel; not wired.)
_G1_NEUTRAL_WRIST_POS = np.array(
[[0.2232, 0.2177, -0.1555], [0.2232, -0.2177, -0.1555]], np.float64
)
_G1_NEUTRAL_WRIST_POS = np.array([[0.2232, 0.2177, -0.1555], [0.2232, -0.2177, -0.1555]], np.float64)
# Wrist neutral orientations (scalar-first w, x, y, z) at ``default_angles`` — NOT
# identity: the wrists are rolled/pitched in the standing pose. Matches gear_sonic
# using ``g1_lwrist_rot`` / ``g1_rwrist_rot`` from FK (not identity) as the rotation