Reformat files

ARISE-Initiative · Nov 15, 2024 · 17686f3 · 17686f3
1 parent 1aba13a
commit 17686f3
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Showing 2 changed files with 11 additions and 16 deletions.
diff --git a/robosuite/devices/device.py b/robosuite/devices/device.py
@@ -164,17 +164,10 @@ def input2action(self, mirror_actions=False) -> Optional[Dict]:
         ac_dict[f"{active_arm}_abs"] = arm_action["abs"]
         ac_dict[f"{active_arm}_delta"] = arm_action["delta"]
         # ac_dict[f"{active_arm}_gripper"] = np.array([grasp] * gripper_dof)
-        ac_dict[f"{active_arm}_gripper"] = [
-            1,
-            0.45 * grasp,
-            grasp,
-            grasp,
-            grasp,
-            grasp
-        ]
+        ac_dict[f"{active_arm}_gripper"] = [1, 0.45 * grasp, grasp, grasp, grasp, grasp]
 
         # clip actions between -1 and 1
-        for (k, v) in ac_dict.items():
+        for k, v in ac_dict.items():
             if "abs" not in k:
                 ac_dict[k] = np.clip(v, -1, 1)
 

diff --git a/robosuite/devices/spacemouse.py b/robosuite/devices/spacemouse.py
@@ -325,12 +325,12 @@ def __init__(
 
         product_id_path_pairs = set()
         for device in hid.enumerate():
-            if device['vendor_id'] == vendor_id:
-                product_id_path_pairs.add((device['product_id'], device['path']))
+            if device["vendor_id"] == vendor_id:
+                product_id_path_pairs.add((device["product_id"], device["path"]))
         product_id_path_pairs = sorted(list(product_id_path_pairs))
 
         self.devices = []
-        for (product_id, path) in product_id_path_pairs:
+        for product_id, path in product_id_path_pairs:
             self.devices.append(SpaceMouseSdkWrapper(product_id, path, pos_sensitivity, rot_sensitivity))
 
         # also add a keyboard for aux controls
@@ -406,7 +406,7 @@ def input2action(self, mirror_actions=False) -> Optional[Dict]:
         original_arm_index = self.active_arm_index
         for i in range(len(self.devices)):
             ac_dict = super().input2action(mirror_actions)
-            if ac_dict is None: # reset from any space mouse
+            if ac_dict is None:  # reset from any space mouse
                 for device in self.devices:
                     device._reset_state = 1
                     device._enabled = False
@@ -467,9 +467,11 @@ def _postprocess_device_outputs(self, dpos, drotation):
     space_mice = []
     device_pathes = set()
     for device in hid.enumerate():
-        if device['vendor_id'] == vendor_id and device['path'] not in device_pathes:
-            space_mice.append(SpaceMouseSdkWrapper(device['product_id'], device['path'], pos_sensitivity, rot_sensitivity))
-            device_pathes.add(device['path'])
+        if device["vendor_id"] == vendor_id and device["path"] not in device_pathes:
+            space_mice.append(
+                SpaceMouseSdkWrapper(device["product_id"], device["path"], pos_sensitivity, rot_sensitivity)
+            )
+            device_pathes.add(device["path"])
 
     for space_mouse in space_mice:
         space_mouse.start_control()