From a068618fafa28078ef917e7952a892edf1ad3685 Mon Sep 17 00:00:00 2001 From: Jade Choghari Date: Tue, 18 Nov 2025 16:01:41 +0100 Subject: [PATCH] more styling fixes: --- src/lerobot/processor/observation_processor.py | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/src/lerobot/processor/observation_processor.py b/src/lerobot/processor/observation_processor.py index ae3784865..6ce34a683 100644 --- a/src/lerobot/processor/observation_processor.py +++ b/src/lerobot/processor/observation_processor.py @@ -290,29 +290,25 @@ class LiberoProcessorStep(ObservationProcessorStep): """ if not isinstance(quat, torch.Tensor): - raise TypeError( - f"_quat2axisangle expected a torch.Tensor, got {type(quat)}" - ) + raise TypeError(f"_quat2axisangle expected a torch.Tensor, got {type(quat)}") if quat.ndim != 2 or quat.shape[1] != 4: - raise ValueError( - f"_quat2axisangle expected shape (B, 4), got {tuple(quat.shape)}" - ) + raise ValueError(f"_quat2axisangle expected shape (B, 4), got {tuple(quat.shape)}") quat = quat.to(dtype=torch.float32) device = quat.device - B = quat.shape[0] + batch_size = quat.shape[0] w = quat[:, 3].clamp(-1.0, 1.0) den = torch.sqrt(torch.clamp(1.0 - w * w, min=0.0)) - result = torch.zeros((B, 3), device=device) + result = torch.zeros((batch_size, 3), device=device) mask = den > 1e-10 if mask.any(): - angle = 2.0 * torch.acos(w[mask]) # (M,) + angle = 2.0 * torch.acos(w[mask]) # (M,) axis = quat[mask, :3] / den[mask].unsqueeze(1) result[mask] = axis * angle.unsqueeze(1)