From bfced3d14918cdf22c789478d5b9b67cae0966b7 Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Fri, 10 Jul 2026 15:59:55 +0200 Subject: [PATCH] Silence ruff N817 on scipy Rotation import --- src/lerobot/teleoperators/pico_headset/smpl_fk.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lerobot/teleoperators/pico_headset/smpl_fk.py b/src/lerobot/teleoperators/pico_headset/smpl_fk.py index 1a13c7b3b..bb4f9c564 100644 --- a/src/lerobot/teleoperators/pico_headset/smpl_fk.py +++ b/src/lerobot/teleoperators/pico_headset/smpl_fk.py @@ -210,9 +210,9 @@ class SmplForwardKinematics: root_quat = smpl_root_ytoz_up(root_quat) global_orient_new = quat_to_aa(root_quat) - full_pose = np.concatenate( - [global_orient_new, body_pose, np.zeros(3 * self.n_joints - 66)] - ).reshape(self.n_joints, 3) + full_pose = np.concatenate([global_orient_new, body_pose, np.zeros(3 * self.n_joints - 66)]).reshape( + self.n_joints, 3 + ) joints = self._fk(full_pose) # (24, 3) # Canonicalize: strip SMPL base rot and the root orientation.