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Silence ruff N817 on scipy Rotation import

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Martino Russi
2026-07-10 15:59:55 +02:00
parent 4969813d4e
commit bfced3d149
1 changed files with 3 additions and 3 deletions
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src/lerobot/teleoperators/pico_headset/smpl_fk.py
+3 -3
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@@ -210,9 +210,9 @@ class SmplForwardKinematics:
root_quat = smpl_root_ytoz_up(root_quat) root_quat = smpl_root_ytoz_up(root_quat)
global_orient_new = quat_to_aa(root_quat) global_orient_new = quat_to_aa(root_quat)
full_pose = np.concatenate( full_pose = np.concatenate([global_orient_new, body_pose, np.zeros(3 * self.n_joints - 66)]).reshape(
[global_orient_new, body_pose, np.zeros(3 * self.n_joints - 66)] self.n_joints, 3
).reshape(self.n_joints, 3) )
joints = self._fk(full_pose) # (24, 3) joints = self._fk(full_pose) # (24, 3)
# Canonicalize: strip SMPL base rot and the root orientation. # Canonicalize: strip SMPL base rot and the root orientation.