format

kscalelabs · Aug 20, 2024 · baaa44f · baaa44f
1 parent 44cf270
commit baaa44f
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Showing 3 changed files with 13 additions and 10 deletions.
diff --git a/kscale/formats/mjcf.py b/kscale/formats/mjcf.py
@@ -503,4 +503,4 @@ def adapt_world(self) -> None:
         self.tree = ET.ElementTree(root)
 
     def save(self, path: str | Path) -> None:
-        self.tree.write(path, encoding="utf-8")
+        self.tree.write(path, encoding="utf-8")
diff --git a/kscale/store/pybullet.py b/kscale/store/pybullet.py
@@ -12,7 +12,6 @@
 
 
 def main(args: Sequence[str] | None = None) -> None:
-
     parser = argparse.ArgumentParser(description="Show a URDF in PyBullet")
     parser.add_argument("urdf", nargs="?", help="Path to the URDF file")
     parser.add_argument("--dt", type=float, default=0.01, help="Time step")
@@ -96,7 +95,9 @@ def draw_box(pt: list[list[float]], color: tuple[float, float, float], obj_id: i
         for i in range(4):
             p.addUserDebugLine(pt[i], pt[i + 4], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id)
             p.addUserDebugLine(pt[i], pt[mapping[i]], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id)
-            p.addUserDebugLine(pt[i + 4], pt[mapping[i] + 4], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id)
+            p.addUserDebugLine(
+                pt[i + 4], pt[mapping[i] + 4], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id
+            )
 
     # Shows bounding boxes around each part of the robot representing the inertia frame.
     if parsed_args.show_inertia:
@@ -114,11 +115,14 @@ def draw_box(pt: list[list[float]], color: tuple[float, float, float], obj_id: i
             box_scale_z = 0.5 * math.sqrt(6 * (ixx + iyy - izz) / mass)
 
             half_extents = [box_scale_x, box_scale_y, box_scale_z]
-            pt = [[x, y, z] for x, y, z in itertools.product(
-                [-half_extents[0], half_extents[0]],
-                [-half_extents[1], half_extents[1]],
-                [-half_extents[2], half_extents[2]]
-            )]
+            pt = [
+                [x, y, z]
+                for x, y, z in itertools.product(
+                    [-half_extents[0], half_extents[0]],
+                    [-half_extents[1], half_extents[1]],
+                    [-half_extents[2], half_extents[2]],
+                )
+            ]
             draw_box(pt, (1, 0, 0), robot, i)
 
     # Show joint controller.

diff --git a/kscale/store/urdf.py b/kscale/store/urdf.py
@@ -92,15 +92,14 @@ async def upload_artifact(tarball_path: str, listing_id: str, api_key: str) -> N
 
 
 def main(args: Sequence[str] | None = None) -> None:
-
     command = args[0]
     listing_id = args[1]
 
     if command == "get":
         try:
             api_key = os.getenv("KSCALE_API_KEY") or (args[2] if len(args) >= 3 else None)
             urdf_info = fetch_urdf_info(listing_id, api_key)
-            
+
             if urdf_info.urdf:
                 artifact_url = urdf_info.urdf.url
                 asyncio.run(download_artifact(artifact_url, CACHE_DIR, api_key))