[dartpy] Format code using black

Author: jslee02

pixi.lock

@@ -34,6 +34,8 @@ pkg-config = ">=0.29.2,<0.30"
 pytest = ">=8.1.1,<8.2"
 doxygen = ">=1.10.0,<1.11"
 setuptools = ">=69.1.1,<69.2"
+black = ">=24.2.0,<24.3"
+isort = ">=5.13.2,<5.14"
 
 [target.linux-64.dependencies]
 freeglut = ">=3.2.2,<3.3"

pixi.toml

@@ -41,14 +41,14 @@ def __init__(self, world, skel):
         self.world = world
         self.skel = skel
         self.dofs = self.skel.getNumDofs()
-        self.left_heel = self.skel.getBodyNode('h_heel_left')
+        self.left_heel = self.skel.getBodyNode("h_heel_left")
         self.left_foot = [
-            self.skel.getDof('j_heel_left_1').getIndexInSkeleton(),
-            self.skel.getDof('j_toe_left').getIndexInSkeleton(),
+            self.skel.getDof("j_heel_left_1").getIndexInSkeleton(),
+            self.skel.getDof("j_toe_left").getIndexInSkeleton(),
         ]
         self.right_foot = [
-            self.skel.getDof('j_heel_right_1').getIndexInSkeleton(),
-            self.skel.getDof('j_toe_right').getIndexInSkeleton(),
+            self.skel.getDof("j_heel_right_1").getIndexInSkeleton(),
+            self.skel.getDof("j_toe_right").getIndexInSkeleton(),
         ]
         self.timestep = world.getTimeStep()
         self.Kp = np.eye(self.dofs)
@@ -83,15 +83,17 @@ def __init__(self, world, skel):
         self.world.addSimpleFrame(self.ext_force_simple_frame)
 
     def customPreStep(self):
-        q = self.skel.getPositions();
-        dq = self.skel.getVelocities();
+        q = self.skel.getPositions()
+        dq = self.skel.getVelocities()
         constraint_forces = self.skel.getConstraintForces()
 
         # SPD tracking
         invM = np.linalg.inv(self.skel.getMassMatrix() + self.Kd * self.timestep)
         p = np.matmul(-self.Kp, q + dq * self.timestep - self.q_d)
         d = np.matmul(-self.Kd, dq)
-        ddq = np.matmul(invM, -self.skel.getCoriolisAndGravityForces() + p + d + constraint_forces)
+        ddq = np.matmul(
+            invM, -self.skel.getCoriolisAndGravityForces() + p + d + constraint_forces
+        )
 
         self.torques = p + d + np.matmul(-self.Kd, ddq) * self.timestep
 
@@ -101,21 +103,37 @@ def customPreStep(self):
 
         offset = com[0] - cop[0]
         if offset < 0.1 and offset > 0.0:
-             k1 = 200
-             k2 = 100
-             kd = 10
-             self.torques[self.left_foot[0]] += -k1 * offset + kd * (self.pre_offset - offset)
-             self.torques[self.left_foot[1]] += -k2 * offset + kd * (self.pre_offset - offset)
-             self.torques[self.right_foot[0]] += -k1 * offset + kd * (self.pre_offset - offset)
-             self.torques[self.right_foot[1]] += -k2 * offset + kd * (self.pre_offset - offset)
+            k1 = 200
+            k2 = 100
+            kd = 10
+            self.torques[self.left_foot[0]] += -k1 * offset + kd * (
+                self.pre_offset - offset
+            )
+            self.torques[self.left_foot[1]] += -k2 * offset + kd * (
+                self.pre_offset - offset
+            )
+            self.torques[self.right_foot[0]] += -k1 * offset + kd * (
+                self.pre_offset - offset
+            )
+            self.torques[self.right_foot[1]] += -k2 * offset + kd * (
+                self.pre_offset - offset
+            )
         elif offset > -0.2 and offset < -0.05:
             k1 = 2000
             k2 = 100
             kd = 100
-            self.torques[self.left_foot[0]] += -k1 * offset + kd * (self.pre_offset - offset)
-            self.torques[self.left_foot[1]] += -k2 * offset + kd * (self.pre_offset - offset)
-            self.torques[self.right_foot[0]] += -k1 * offset + kd * (self.pre_offset - offset)
-            self.torques[self.right_foot[1]] += -k2 * offset + kd * (self.pre_offset - offset)
+            self.torques[self.left_foot[0]] += -k1 * offset + kd * (
+                self.pre_offset - offset
+            )
+            self.torques[self.left_foot[1]] += -k2 * offset + kd * (
+                self.pre_offset - offset
+            )
+            self.torques[self.right_foot[0]] += -k1 * offset + kd * (
+                self.pre_offset - offset
+            )
+            self.torques[self.right_foot[1]] += -k2 * offset + kd * (
+                self.pre_offset - offset
+            )
 
         # Just to make sure no illegal torque is used
         for i in range(6):
@@ -128,7 +146,7 @@ def customPreStep(self):
         if self.ext_force_duration <= 0:
             self.ext_force_duration = 0
             self.ext_force = np.zeros(3)
-        spine = self.skel.getBodyNode('h_spine')
+        spine = self.skel.getBodyNode("h_spine")
         spine.addExtForce(self.ext_force)
         if self.ext_force_duration > 0:
             arrow_head = spine.getTransform().translation()
@@ -149,18 +167,18 @@ def external_force(self):
 
 
 def main():
-    world = dart.utils.SkelParser.readWorld('dart://sample/skel/fullbody1.skel')
+    world = dart.utils.SkelParser.readWorld("dart://sample/skel/fullbody1.skel")
     world.setGravity([0, -9.81, 0])
 
-    biped = world.getSkeleton('fullbody1')
-    biped.getDof('j_pelvis_rot_y').setPosition(-0.20)
-    biped.getDof('j_thigh_left_z').setPosition(0.15)
-    biped.getDof('j_shin_left').setPosition(-0.40)
-    biped.getDof('j_heel_left_1').setPosition(0.25)
-    biped.getDof('j_thigh_right_z').setPosition(0.15)
-    biped.getDof('j_shin_right').setPosition(-0.40)
-    biped.getDof('j_heel_right_1').setPosition(0.25)
-    biped.getDof('j_abdomen_2').setPosition(0.00)
+    biped = world.getSkeleton("fullbody1")
+    biped.getDof("j_pelvis_rot_y").setPosition(-0.20)
+    biped.getDof("j_thigh_left_z").setPosition(0.15)
+    biped.getDof("j_shin_left").setPosition(-0.40)
+    biped.getDof("j_heel_left_1").setPosition(0.25)
+    biped.getDof("j_thigh_right_z").setPosition(0.15)
+    biped.getDof("j_shin_right").setPosition(-0.40)
+    biped.getDof("j_heel_right_1").setPosition(0.25)
+    biped.getDof("j_abdomen_2").setPosition(0.00)
 
     node = MyWorldNode(world, biped)
 

python/examples/biped_stand/main.py

@@ -11,7 +11,7 @@
 
 
 class ContactVisualizingNode(dart.gui.osg.RealTimeWorldNode):
-    """ WorldNode subclass, which extracts the contacts of the last simulation
+    """WorldNode subclass, which extracts the contacts of the last simulation
     step and adds them to a pointloud for visualization.
 
     Note: Simulation must run for the contacts to be displayed.
@@ -36,14 +36,11 @@ def customPreRefresh(self):
         self._pointCloudShape.setPoint(contactPoints)
 
     def _getListOfContactPoints(self):
-        return [
-            c.point
-            for c in self.getWorld().getLastCollisionResult().getContacts()
-        ]
+        return [c.point for c in self.getWorld().getLastCollisionResult().getContacts()]
 
 
 def setAlpha(skeleton, alphaValue):
-    """ setAlpha(skeleton : dartpy.dynamics.Skeleton, alphaValue : float) -> None
+    """setAlpha(skeleton : dartpy.dynamics.Skeleton, alphaValue : float) -> None
 
     sets the transparency (alpha) value for each body node of the skeleton,
     assuming that the VisualAspect is contained within the first ShapeNode

python/examples/contacts_pointcloud/main.py

@@ -9,31 +9,32 @@ def main():
 
     tf.set_translation([4, -4, 0])
     frame = dart.gui.osg.InteractiveFrame(
-        dart.dynamics.Frame.World(), 'interactive frame', tf, 2)
+        dart.dynamics.Frame.World(), "interactive frame", tf, 2
+    )
     world.addSimpleFrame(frame)
 
     tf.set_translation([-4, 4, 0])
-    draggable = dart.dynamics.SimpleFrame(frame, 'draggable', tf)
+    draggable = dart.dynamics.SimpleFrame(frame, "draggable", tf)
     draggable.setShape(dart.dynamics.BoxShape([1, 1, 1]))
     draggable.getVisualAspect(True).setColor([0.9, 0, 0])
     world.addSimpleFrame(draggable)
 
     tf.set_translation([8, 0, 0])
-    x_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), 'X', tf)
+    x_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), "X", tf)
     x_shape = dart.dynamics.BoxShape([0.2, 0.2, 0.2])
     x_marker.setShape(x_shape)
     x_marker.getVisualAspect(True).setColor([0.9, 0, 0])
     world.addSimpleFrame(x_marker)
 
     tf.set_translation([0, 8, 0])
-    y_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), 'Y', tf)
+    y_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), "Y", tf)
     y_shape = dart.dynamics.BoxShape([0.2, 0.2, 0.2])
     y_marker.setShape(y_shape)
     y_marker.getVisualAspect(True).setColor([0, 0.9, 0])
     world.addSimpleFrame(y_marker)
 
     tf.set_translation([0, 0, 8])
-    z_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), 'Z', tf)
+    z_marker = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), "Z", tf)
     z_shape = dart.dynamics.BoxShape([0.2, 0.2, 0.2])
     z_marker.setShape(z_shape)
     z_marker.getVisualAspect(True).setColor([0, 0, 0.9])

python/examples/drag_and_drop/main.py

@@ -9,11 +9,15 @@ def main():
     ground = urdfParser.parseSkeleton("dart://sample/urdf/KR5/ground.urdf")
     world.addSkeleton(kr5)
     world.addSkeleton(ground)
-    print('Robot {} is loaded'.format(kr5.getName()))
+    print("Robot {} is loaded".format(kr5.getName()))
 
     for i in range(100):
         if i % 10 == 0:
-            print('[{}] joint position: {}'.format(world.getSimFrames(), kr5.getPositions()))
+            print(
+                "[{}] joint position: {}".format(
+                    world.getSimFrames(), kr5.getPositions()
+                )
+            )
         world.step()
 
 

python/examples/hello_world/main.py

@@ -51,9 +51,9 @@ def main():
     viewer.addAttachment(grid)
 
     viewer.setUpViewInWindow(0, 0, 640, 480)
-    viewer.setCameraHomePosition([2.0, 1.0, 2.0],
-                                 [0.00, 0.00, 0.00],
-                                 [-0.24, 0.94, -0.25])
+    viewer.setCameraHomePosition(
+        [2.0, 1.0, 2.0], [0.00, 0.00, 0.00], [-0.24, 0.94, -0.25]
+    )
     viewer.run()
 
 

python/examples/hello_world_gui/main.py

@@ -7,20 +7,22 @@ def __init__(self, world, kr5):
         super(HelloWorldNode, self).__init__(world)
         self.kr5 = kr5
         self.dofs = self.kr5.getNumDofs()
-        self.ee = kr5.getBodyNode('palm')
+        self.ee = kr5.getBodyNode("palm")
         self.Kp = np.eye(3) * 50.0
         self.Kd = np.eye(self.dofs) * 5.0
         self.ee_offset = [0.05, 0, 0]
 
         tf = self.ee.getTransform()
         tf.pretranslate(self.ee_offset)
-        self.target = dart.dynamics.SimpleFrame(dart.dynamics.Frame.World(), "target", tf)
+        self.target = dart.dynamics.SimpleFrame(
+            dart.dynamics.Frame.World(), "target", tf
+        )
 
     def customPreStep(self):
         M = self.kr5.getMassMatrix()
 
         J = self.ee.getLinearJacobian()
-        Jt = J.transpose();
+        Jt = J.transpose()
         JJt = np.matmul(J, Jt)
         kI = 0.0025 * np.eye(3)
         invJ = np.matmul(Jt, np.linalg.inv(JJt + kI))
@@ -30,7 +32,10 @@ def customPreStep(self):
         dJdJt = np.matmul(dJ, dJt)
         invdJ = np.matmul(dJt, np.linalg.inv(dJdJt + kI))
 
-        e = self.target.getTransform().translation() - self.ee.getTransform().translation()
+        e = (
+            self.target.getTransform().translation()
+            - self.ee.getTransform().translation()
+        )
         de = -self.ee.getLinearVelocity()
 
         cg = self.kr5.getCoriolisAndGravityForces()
@@ -70,9 +75,9 @@ def main():
     viewer.addAttachment(grid)
 
     viewer.setUpViewInWindow(0, 0, 640, 480)
-    viewer.setCameraHomePosition([2.0, 1.0, 2.0],
-                                 [0.00, 0.00, 0.00],
-                                 [-0.24, 0.94, -0.25])
+    viewer.setCameraHomePosition(
+        [2.0, 1.0, 2.0], [0.00, 0.00, 0.00], [-0.24, 0.94, -0.25]
+    )
     viewer.run()
 
 

python/examples/operational_space_control/main.py

@@ -45,5 +45,5 @@ def main():
     viewer.run()
 
 
-if __name__== "__main__":
+if __name__ == "__main__":
     main()

python/examples/rigid_chain/main.py

@@ -14,7 +14,6 @@ def main():
     world = dart.utils.SkelParser.readWorld("dart://sample/skel/cubes.skel")
     world.setGravity([0, -9.81, 0])
 
-
     viewer = dart.gui.osg.Viewer()
     shadow = dart.gui.osg.WorldNode.createDefaultShadowTechnique(viewer)
 
@@ -26,5 +25,5 @@ def main():
     viewer.run()
 
 
-if __name__== "__main__":
+if __name__ == "__main__":
     main()