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[pre-commit.ci] auto fixes from pre-commit.com hooks

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for more information, see https://pre-commit.ci
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pre-commit-ci[bot]
2025-03-24 13:16:38 +00:00
committed by Michel Aractingi
parent cdcf346061
commit 1c8daf11fd
95 changed files with 1592 additions and 491 deletions
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8
lerobot/scripts/server/end_effector_control_utils.py
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@@ -480,7 +480,7 @@ def test_forward_kinematics(robot, fps=10):
obs = robot.capture_observation()
joint_positions = obs["observation.state"].cpu().numpy()
ee_pos = RobotKinematics.fk_gripper_tip(joint_positions)
logging.info(f"EE Position: {ee_pos[:3,3]}")
logging.info(f"EE Position: {ee_pos[:3, 3]}")
busy_wait(1 / fps - (time.perf_counter() - loop_start_time))
@@ -519,7 +519,7 @@ def teleoperate_inverse_kinematics_with_leader(robot, fps=10):
joint_positions, desired_ee_pos, position_only=True, fk_func=fk_func
)
robot.send_action(torch.from_numpy(target_joint_state))
logging.info(f"Leader EE: {leader_ee[:3,3]}, Follower EE: {ee_pos[:3,3]}")
logging.info(f"Leader EE: {leader_ee[:3, 3]}, Follower EE: {ee_pos[:3, 3]}")
busy_wait(1 / fps - (time.perf_counter() - loop_start_time))
@@ -574,9 +574,9 @@ def teleoperate_delta_inverse_kinematics_with_leader(robot, fps=10):
# Logging
logging.info(
f"Current EE: {current_ee_pos[:3,3]}, Desired EE: {desired_ee_pos[:3,3]}"
f"Current EE: {current_ee_pos[:3, 3]}, Desired EE: {desired_ee_pos[:3, 3]}"
)
logging.info(f"Delta EE: {ee_delta[:3,3]}")
logging.info(f"Delta EE: {ee_delta[:3, 3]}")
busy_wait(1 / fps - (time.perf_counter() - loop_start_time))