fix some lints

HULKs · Jan 25, 2025 · f33df83 · f33df83
1 parent 95713c9
commit f33df83
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/tools/machine-learning/mujoco/packages/nao_env/src/nao_env/nao_walking.py b/tools/machine-learning/mujoco/packages/nao_env/src/nao_env/nao_walking.py
@@ -114,7 +114,7 @@ def initial_state(parameters: Parameters) -> State:
 
 
 class NaoWalking(MujocoEnv, utils.EzPickle):
-    metadata: ClassVar = {
+    metadata: ClassVar[dict[str, Any]] = {
         "render_modes": [
             "human",
             "rgb_array",

diff --git a/tools/machine-learning/mujoco/packages/transforms/src/transforms/transforms.py b/tools/machine-learning/mujoco/packages/transforms/src/transforms/transforms.py
@@ -112,5 +112,5 @@ def quaternion_from_isometry(
 def project_isometry_in_z_to_pose2(transform: NDArray[np.float64]) -> Pose2:
     xy_translation = transform[:2, -1]
     xy_rotation = transform[:2, 0]
-    theta = np.atan2(xy_rotation[1], xy_rotation[0])
+    theta = np.arctan2(xy_rotation[1], xy_rotation[0])
     return Pose2(x=xy_translation[0], y=xy_translation[1], theta=theta)
diff --git a/tools/machine-learning/mujoco/packages/walking_engine/src/walking_engine/walking_types.py b/tools/machine-learning/mujoco/packages/walking_engine/src/walking_engine/walking_types.py
@@ -1,5 +1,6 @@
+from __future__ import annotations
+
 from dataclasses import dataclass
-from typing import Self
 
 from common_types import Side
 from transforms import Pose2
@@ -27,12 +28,12 @@ def from_support_side(
         left_sole: Pose2,
         right_sole: Pose2,
         support_side: Side,
-    ) -> Self:
+    ) -> Feet:
         if support_side == Side.LEFT:
             return Feet(support_sole=left_sole, swing_sole=right_sole)
         return Feet(support_sole=right_sole, swing_sole=left_sole)
 
-    def switch(self) -> Self:
+    def switch(self) -> Feet:
         return Feet(support_sole=self.swing_sole, swing_sole=self.support_sole)