precommit

Author: dta-bdai

judo/controller/controller.py

@@ -701,6 +701,7 @@ def set_init_previous_actions(self, previous_actions_list: list[np.ndarray | Non
             pa_np = np.stack([pa for pa in previous_actions_list if pa is not None], axis=0)
             pa_broadcast = np.repeat(pa_np, self.rollout_backend.num_threads, axis=0)
             import warp as wp  # pyright: ignore[reportMissingImports]  # noqa: PLC0415
+
             self._last_policy_output = wp.array(pa_broadcast, dtype=wp.float32, device=self.rollout_backend.device)
 
 

run_mpc/mpc_batch.py

@@ -9,7 +9,7 @@
 import numpy as np
 from tqdm import tqdm
 
-from judo.app.structs import MujocoState, RenderPose
+from judo.app.structs import RenderPose
 from judo.controller import BatchedControllers as JudoBatchedController
 from judo.controller import Controller as JudoController
 from judo.simulation.hierarchical_mj_simulation import HierarchicalMJSimulation