run pre-commit format and add contributor

isaac-sim · Dec 18, 2024 · ba85cdb · ba85cdb
1 parent cd7cbe4
commit ba85cdb
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Showing 3 changed files with 13 additions and 9 deletions.
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -77,6 +77,7 @@ Guidelines for modifications:
 * Vladimir Fokow
 * Wei Yang
 * Xavier Nal
+* Xin Xu
 * Yang Jin
 * Yujian Zhang
 * Zhengyu Zhang

diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py
@@ -604,6 +604,7 @@ def apply_external_force_torque(
     # note: these are only applied when you call: `asset.write_data_to_sim()`
     asset.set_external_force_and_torque(forces, torques, env_ids=env_ids, body_ids=asset_cfg.body_ids)
 
+
 def apply_external_force_torque_duration(
     env: ManagerBasedEnv,
     env_ids: torch.Tensor,
@@ -639,6 +640,7 @@ def apply_external_force_torque_duration(
     # note: these are only applied when you call: `asset.write_data_to_sim()`
     asset.set_external_force_and_torque(forces, torques, env_ids=env_ids, body_ids=asset_cfg.body_ids)
 
+
 def push_by_setting_velocity(
     env: ManagerBasedEnv,
     env_ids: torch.Tensor,

diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py
@@ -217,7 +217,7 @@ def apply(
                 time_left -= dt
 
                 # update duration time
-                started_env_ids=self._duration_term_started
+                started_env_ids = self._duration_term_started
                 duration_left = self._duration_term_duration_time_left[index]
                 duration_left[started_env_ids] -= dt
 
@@ -231,13 +231,13 @@ def apply(
                         self._duration_term_interval_time_left[index][:] = sampled_interval
 
                         # call the event term (with None for env_ids)
-                        term_cfg.params["open"]=True
+                        term_cfg.params["open"] = True
                         term_cfg.func(self._env, None, **term_cfg.params)
                         self._duration_term_started[index][:] = True
 
                     # duration check
                     if duration_left < 1e-6:
-                        term_cfg.params["open"]=False
+                        term_cfg.params["open"] = False
                         term_cfg.func(self._env, None, **term_cfg.params)
                         self._duration_term_started[index][:] = False
 
@@ -251,23 +251,25 @@ def apply(
                         lower, upper = term_cfg.interval_range_s
                         sampled_time = torch.rand(len(valid_env_ids), device=self.device) * (upper - lower) + lower
                         self._duration_term_interval_time_left[index][valid_env_ids] = sampled_time
-                        
+
                         # call the event term
-                        term_cfg.params["open"]=True
+                        term_cfg.params["open"] = True
                         term_cfg.func(self._env, valid_env_ids, **term_cfg.params)
                         self._duration_term_started[index][valid_env_ids] = True
 
                     # duration check
                     valid_env_ids_duration = (duration_left < 1e-6).nonzero().flatten()
                     if len(valid_env_ids_duration) > 0:
-                        term_cfg.params["open"]=False
+                        term_cfg.params["open"] = False
                         term_cfg.func(self._env, valid_env_ids_duration, **term_cfg.params)
                         self._duration_term_started[index][valid_env_ids_duration] = False
 
                         lower, upper = term_cfg.duration_range_s
-                        duration_left = torch.rand(len(valid_env_ids_duration), device=self.device) * (upper - lower) + lower
+                        duration_left = (
+                            torch.rand(len(valid_env_ids_duration), device=self.device) * (upper - lower) + lower
+                        )
                         self._duration_term_duration_time_left[index][valid_env_ids_duration] = duration_left
-            
+
             elif mode == "reset":
                 # obtain the minimum step count between resets
                 min_step_count = term_cfg.min_step_count_between_reset
@@ -442,7 +444,6 @@ def _prepare_terms(self):
                         f"Event term '{term_name}' has mode 'duration' but 'duration_range_s' is not specified."
                     )
 
-
                 # sample the time left for global
                 if term_cfg.is_global_time:
                     lower, upper = term_cfg.interval_range_s