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style(vlabench): satisfy ruff N817/format

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- import scipy Rotation without `as R` alias (ruff N817)
- apply ruff-format line wrapping

Made-with: Cursor
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pepijn
2026-04-21 13:01:59 +00:00
parent 4590a75f46
commit a765b0bdf3
1 changed files with 11 additions and 21 deletions
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src/lerobot/envs/vlabench.py
+11 -21
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@@ -35,7 +35,7 @@ import cv2
import gymnasium as gym import gymnasium as gym
import numpy as np import numpy as np
from gymnasium import spaces from gymnasium import spaces
from scipy.spatial.transform import Rotation as R from scipy.spatial.transform import Rotation
from lerobot.types import RobotObservation from lerobot.types import RobotObservation
@@ -260,9 +260,9 @@ class VLABenchEnv(gym.Env):
# `_get_obs` can translate between robot-frame (dataset) and # `_get_obs` can translate between robot-frame (dataset) and
# world-frame (dm_control) without hitting physics every call. # world-frame (dm_control) without hitting physics every call.
try: try:
self._robot_base_xyz = np.asarray( self._robot_base_xyz = np.asarray(self._env.get_robot_frame_position(), dtype=np.float64).reshape(
self._env.get_robot_frame_position(), dtype=np.float64 3
).reshape(3) )
except Exception: except Exception:
# Fallback to VLABench's default Franka base position. # Fallback to VLABench's default Franka base position.
self._robot_base_xyz = np.array([0.0, -0.4, 0.78], dtype=np.float64) self._robot_base_xyz = np.array([0.0, -0.4, 0.78], dtype=np.float64)
@@ -323,20 +323,14 @@ class VLABenchEnv(gym.Env):
# 'xyz' euler angles. # 'xyz' euler angles.
raw = np.asarray(obs.get("ee_state", np.zeros(8)), dtype=np.float64).ravel() raw = np.asarray(obs.get("ee_state", np.zeros(8)), dtype=np.float64).ravel()
pos_world = raw[:3] if raw.size >= 3 else np.zeros(3, dtype=np.float64) pos_world = raw[:3] if raw.size >= 3 else np.zeros(3, dtype=np.float64)
quat_wxyz = ( quat_wxyz = raw[3:7] if raw.size >= 7 else np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float64)
raw[3:7] if raw.size >= 7 else np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float64)
)
gripper = float(raw[7]) if raw.size >= 8 else 0.0 gripper = float(raw[7]) if raw.size >= 8 else 0.0
base = ( base = self._robot_base_xyz if self._robot_base_xyz is not None else np.zeros(3, dtype=np.float64)
self._robot_base_xyz
if self._robot_base_xyz is not None
else np.zeros(3, dtype=np.float64)
)
pos_robot = pos_world - base pos_robot = pos_world - base
euler_xyz = R.from_quat( euler_xyz = Rotation.from_quat([quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]]).as_euler(
[quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]] "xyz", degrees=False
).as_euler("xyz", degrees=False) )
ee_state = np.concatenate([pos_robot, euler_xyz, [gripper]]).astype(np.float64) ee_state = np.concatenate([pos_robot, euler_xyz, [gripper]]).astype(np.float64)
@@ -387,11 +381,7 @@ class VLABenchEnv(gym.Env):
# Action position is in robot-base frame (see convert_to_lerobot.py); # Action position is in robot-base frame (see convert_to_lerobot.py);
# dm_control's IK expects a world-frame target. # dm_control's IK expects a world-frame target.
base = ( base = self._robot_base_xyz if self._robot_base_xyz is not None else np.zeros(3, dtype=np.float64)
self._robot_base_xyz
if self._robot_base_xyz is not None
else np.zeros(3, dtype=np.float64)
)
pos_world = np.asarray(action[:3], dtype=np.float64) + base pos_world = np.asarray(action[:3], dtype=np.float64) + base
rx, ry, rz = float(action[3]), float(action[4]), float(action[5]) rx, ry, rz = float(action[3]), float(action[4]), float(action[5])
gripper = float(np.clip(action[6], 0.0, 1.0)) gripper = float(np.clip(action[6], 0.0, 1.0))
@@ -399,7 +389,7 @@ class VLABenchEnv(gym.Env):
# Dataset euler is scipy extrinsic 'xyz' (same as VLABench's # Dataset euler is scipy extrinsic 'xyz' (same as VLABench's
# `euler_to_quaternion`). scipy emits `[x, y, z, w]`; dm_control's IK # `euler_to_quaternion`). scipy emits `[x, y, z, w]`; dm_control's IK
# and MuJoCo use `[w, x, y, z]`, so reorder. # and MuJoCo use `[w, x, y, z]`, so reorder.
qxyzw = R.from_euler("xyz", [rx, ry, rz], degrees=False).as_quat() qxyzw = Rotation.from_euler("xyz", [rx, ry, rz], degrees=False).as_quat()
quat = np.array([qxyzw[3], qxyzw[0], qxyzw[1], qxyzw[2]], dtype=np.float64) quat = np.array([qxyzw[3], qxyzw[0], qxyzw[1], qxyzw[2]], dtype=np.float64)
assert self._env is not None assert self._env is not None