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Fix linter issue

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This commit is contained in:
AdilZouitine
2025-04-22 10:37:08 +02:00
parent 0030ff3f74
commit c5845ee203
14 changed files with 64 additions and 1667 deletions
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73
lerobot/scripts/server/end_effector_control_utils.py
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@@ -262,7 +262,7 @@ class GamepadController(InputController):
elif event.button == 6:
self.close_gripper_command = True
# LT button (7) for openning gripper
# LT button (7) for opening gripper
elif event.button == 7:
self.open_gripper_command = True
@@ -421,45 +421,44 @@ class GamepadControllerHID(InputController):
try:
# Read data from the gamepad
data = self.device.read(64)
if data:
# Interpret gamepad data - this will vary by controller model
# These offsets are for the Logitech RumblePad 2
if len(data) >= 8:
# Normalize joystick values from 0-255 to -1.0-1.0
self.left_x = (data[1] - 128) / 128.0
self.left_y = (data[2] - 128) / 128.0
self.right_x = (data[3] - 128) / 128.0
self.right_y = (data[4] - 128) / 128.0
# Interpret gamepad data - this will vary by controller model
# These offsets are for the Logitech RumblePad 2
if data and len(data) >= 8:
# Normalize joystick values from 0-255 to -1.0-1.0
self.left_x = (data[1] - 128) / 128.0
self.left_y = (data[2] - 128) / 128.0
self.right_x = (data[3] - 128) / 128.0
self.right_y = (data[4] - 128) / 128.0
# Apply deadzone
self.left_x = 0 if abs(self.left_x) < self.deadzone else self.left_x
self.left_y = 0 if abs(self.left_y) < self.deadzone else self.left_y
self.right_x = 0 if abs(self.right_x) < self.deadzone else self.right_x
self.right_y = 0 if abs(self.right_y) < self.deadzone else self.right_y
# Apply deadzone
self.left_x = 0 if abs(self.left_x) < self.deadzone else self.left_x
self.left_y = 0 if abs(self.left_y) < self.deadzone else self.left_y
self.right_x = 0 if abs(self.right_x) < self.deadzone else self.right_x
self.right_y = 0 if abs(self.right_y) < self.deadzone else self.right_y
# Parse button states (byte 5 in the Logitech RumblePad 2)
buttons = data[5]
# Parse button states (byte 5 in the Logitech RumblePad 2)
buttons = data[5]
# Check if RB is pressed then the intervention flag should be set
self.intervention_flag = data[6] in [2, 6, 10, 14]
# Check if RB is pressed then the intervention flag should be set
self.intervention_flag = data[6] in [2, 6, 10, 14]
# Check if RT is pressed
self.open_gripper_command = data[6] in [8, 10, 12]
# Check if RT is pressed
self.open_gripper_command = data[6] in [8, 10, 12]
# Check if LT is pressed
self.close_gripper_command = data[6] in [4, 6, 12]
# Check if LT is pressed
self.close_gripper_command = data[6] in [4, 6, 12]
# Check if Y/Triangle button (bit 7) is pressed for saving
# Check if X/Square button (bit 5) is pressed for failure
# Check if A/Cross button (bit 4) is pressed for rerecording
if buttons & 1 << 7:
self.episode_end_status = "success"
elif buttons & 1 << 5:
self.episode_end_status = "failure"
elif buttons & 1 << 4:
self.episode_end_status = "rerecord_episode"
else:
self.episode_end_status = None
# Check if Y/Triangle button (bit 7) is pressed for saving
# Check if X/Square button (bit 5) is pressed for failure
# Check if A/Cross button (bit 4) is pressed for rerecording
if buttons & 1 << 7:
self.episode_end_status = "success"
elif buttons & 1 << 5:
self.episode_end_status = "failure"
elif buttons & 1 << 4:
self.episode_end_status = "rerecord_episode"
else:
self.episode_end_status = None
except OSError as e:
logging.error(f"Error reading from gamepad: {e}")
@@ -618,7 +617,7 @@ def teleoperate_delta_inverse_kinematics(robot, controller, fps=10, bounds=None,
# Process input events
controller.update()
# Get currrent robot state
# Get current robot state
joint_positions = robot.follower_arms["main"].read("Present_Position")
current_ee_pos = kinematics.fk_gripper_tip(joint_positions)
@@ -635,7 +634,7 @@ def teleoperate_delta_inverse_kinematics(robot, controller, fps=10, bounds=None,
desired_ee_pos[:3, 3] = np.clip(desired_ee_pos[:3, 3], bounds["min"], bounds["max"])
# Only send commands if there's actual movement
if any([abs(v) > 0.001 for v in [delta_x, delta_y, delta_z]]):
if any(abs(v) > 0.001 for v in [delta_x, delta_y, delta_z]):
# Compute joint targets via inverse kinematics
target_joint_state = kinematics.ik(joint_positions, desired_ee_pos, position_only=True)
@@ -678,7 +677,7 @@ def teleoperate_gym_env(env, controller, fps: int = 30):
action = np.array([delta_x, delta_y, delta_z])
# Skip if no movement
if any([abs(v) > 0.001 for v in [delta_x, delta_y, delta_z]]):
if any(abs(v) > 0.001 for v in [delta_x, delta_y, delta_z]):
# Step the environment - pass action as a tensor with intervention flag
action_tensor = torch.from_numpy(action.astype(np.float32))
obs, reward, terminated, truncated, info = env.step((action_tensor, False))