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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
This commit is contained in:
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 numpy as np
from gymnasium import spaces
from scipy.spatial.transform import Rotation as R
from scipy.spatial.transform import Rotation
from lerobot.types import RobotObservation
@@ -260,9 +260,9 @@ class VLABenchEnv(gym.Env):
# `_get_obs` can translate between robot-frame (dataset) and
# world-frame (dm_control) without hitting physics every call.
try:
self._robot_base_xyz = np.asarray(
self._env.get_robot_frame_position(), dtype=np.float64
).reshape(3)
self._robot_base_xyz = np.asarray(self._env.get_robot_frame_position(), dtype=np.float64).reshape(
3
)
except Exception:
# Fallback to VLABench's default Franka base position.
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.
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)
quat_wxyz = (
raw[3:7] if raw.size >= 7 else np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float64)
)
quat_wxyz = 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
base = (
self._robot_base_xyz
if self._robot_base_xyz is not None
else np.zeros(3, dtype=np.float64)
)
base = self._robot_base_xyz if self._robot_base_xyz is not None else np.zeros(3, dtype=np.float64)
pos_robot = pos_world - base
euler_xyz = R.from_quat(
[quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]]
).as_euler("xyz", degrees=False)
euler_xyz = Rotation.from_quat([quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]]).as_euler(
"xyz", degrees=False
)
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);
# dm_control's IK expects a world-frame target.
base = (
self._robot_base_xyz
if self._robot_base_xyz is not None
else np.zeros(3, dtype=np.float64)
)
base = 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
rx, ry, rz = float(action[3]), float(action[4]), float(action[5])
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
# `euler_to_quaternion`). scipy emits `[x, y, z, w]`; dm_control's IK
# 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)
assert self._env is not None