[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

omnigibson/action_primitives/starter_semantic_action_primitives.py

@@ -154,9 +154,7 @@ def __exit__(self, *args):
     def _assemble_robot_copy(self):
         if m.TORSO_FIXED:
             assert isinstance(self.robot, (Tiago, R1)), "Fixed torso mode only works with Tiago and R1!"
-            fk_descriptor = (
-                "left_fixed" if "left_fixed" in self.robot.robot_arm_descriptor_yamls else "left"
-            )
+            fk_descriptor = "left_fixed" if "left_fixed" in self.robot.robot_arm_descriptor_yamls else "left"
         else:
             fk_descriptor = (
                 "combined" if "combined" in self.robot.robot_arm_descriptor_yamls else self.robot.default_arm
@@ -293,9 +291,7 @@ def __init__(
             task_relevant_objects_only (bool): Whether to only consider objects relevant to the task
               when computing the action space. Defaults to False.
         """
-        log.warning(
-            "The StarterSemanticActionPrimitive is a work-in-progress and is only provided as an example. "
-        )
+        log.warning("The StarterSemanticActionPrimitive is a work-in-progress and is only provided as an example. ")
         super().__init__(env)
         self.controller_functions = {
             StarterSemanticActionPrimitiveSet.GRASP: self._grasp,
@@ -931,18 +927,18 @@ def _target_in_reach_of_robot_relative(self, relative_target_pose):
     def _manipulation_control_idx(self):
         """The appropriate manipulation control idx for the current settings."""
         if m.TORSO_FIXED:
-            assert isinstance(self.robot, (Tiago, R1)) and self.arm == "left", "Fixed torso mode only supports left arm for Tiago and R1!"
+            assert (
+                isinstance(self.robot, (Tiago, R1)) and self.arm == "left"
+            ), "Fixed torso mode only supports left arm for Tiago and R1!"
             return self.robot.arm_control_idx["left"]
-        
+
         # if the robot has trunk control idx, append that to the manipulation control idx
-        if hasattr(self.robot, 'trunk_control_idx'):
+        if hasattr(self.robot, "trunk_control_idx"):
             return th.cat([self.robot.trunk_control_idx, self.robot.arm_control_idx[self.arm]])
         else:
             # Otherwise just return the default arm control idx
             return self.robot.arm_control_idx[self.arm]
 
-
-
     @property
     def _manipulation_descriptor_path(self):
         """The appropriate manipulation descriptor for the current settings."""

omnigibson/robots/r1.py

@@ -199,7 +199,7 @@ def assisted_grasp_end_points(self):
     @property
     def trunk_joint_names(self):
         return [f"torso_joint{i}" for i in range(1, 5)]
-    
+
     @property
     def manipulation_link_names(self):
         return [
@@ -224,7 +224,7 @@ def manipulation_link_names(self):
             "right_arm_link6",
             "right_gripper_link1",
             "right_gripper_link2",
-            "right_hand"
+            "right_hand",
         ]
 
     @classproperty

omnigibson/tasks/grasp_task.py

@@ -110,7 +110,11 @@ def _reset_agent(self, env):
                 control_idx_in_joint_pos = th.arange(dim)
 
             with PlanningContext(
-                env, self._primitive_controller.robot, self._primitive_controller.robot_copy, self._primitive_controller.arm, "original"
+                env,
+                self._primitive_controller.robot,
+                self._primitive_controller.robot_copy,
+                self._primitive_controller.arm,
+                "original",
             ) as context:
                 for _ in range(MAX_JOINT_RANDOMIZATION_ATTEMPTS):
                     joint_pos, joint_control_idx = self._get_random_joint_position(robot)