format

sim/envs/base/legged_robot.py

@@ -106,7 +106,7 @@ def post_physics_step(self):
         if self.imu_indices:
             self.base_quat = quat_mul(origin, self.rigid_state[:, self.imu_indices, 3:7])
             self.base_lin_vel[:] = quat_rotate_inverse(self.base_quat, self.rigid_state[:, self.imu_indices, 7:10])
-            self.base_ang_vel[:] = quat_rotate_inverse(self.base_quat, self.rigid_state[:, self.imu_indices, 10:13]) 
+            self.base_ang_vel[:] = quat_rotate_inverse(self.base_quat, self.rigid_state[:, self.imu_indices, 10:13])
         else:
             self.base_quat = self.root_states[:, 3:7]
             self.base_lin_vel[:] = quat_rotate_inverse(self.base_quat, self.root_states[:, 7:10])
@@ -490,15 +490,15 @@ def _init_buffers(self):
         self.dof_pos = self.dof_state.view(self.num_envs, self.num_dof, 2)[..., 0]
         self.dof_vel = self.dof_state.view(self.num_envs, self.num_dof, 2)[..., 1]
 
-        self.rigid_state = gymtorch.wrap_tensor(rigid_body_state)#.view(self.num_envs, -1, 13)
+        self.rigid_state = gymtorch.wrap_tensor(rigid_body_state)  # .view(self.num_envs, -1, 13)
         self.rigid_state = self.rigid_state.view(self.num_envs, -1, 13)
         # TODO(pfb30): debug this
         # self.base_quat = self.root_states[:, 3:7]
         origin = torch.tensor(self.cfg.init_state.rot, device=self.device).repeat(self.num_envs, 1)
         origin = quat_conjugate(origin)
 
         if self.imu_indices:
-            self.base_quat = quat_mul(origin, self.rigid_state[:, self.imu_indices, 3:7])   
+            self.base_quat = quat_mul(origin, self.rigid_state[:, self.imu_indices, 3:7])
         else:
             self.base_quat = quat_mul(origin, self.root_states[:, 3:7])
 
@@ -508,7 +508,6 @@ def _init_buffers(self):
             self.num_envs, -1, 3
         )  # shape: num_envs, num_bodies, xyz axis
 
-
         # initialize some data used later on
         self.common_step_counter = 0
         self.extras = {}

sim/envs/humanoids/stompypro_config.py

@@ -52,7 +52,7 @@ class asset(LeggedRobotCfg.asset):
 
     class terrain(LeggedRobotCfg.terrain):
         # mesh_type = "plane"
-        mesh_type = 'trimesh'
+        mesh_type = "trimesh"
         curriculum = False
         # rough terrain only:
         measure_heights = False

sim/sim2sim.py

@@ -228,7 +228,6 @@ def run_mujoco(
             input_data["imu_ang_vel.1"] = omega.astype(np.float32)
             input_data["imu_euler_xyz.1"] = eu_ang.astype(np.float32)
 
-
             input_data["buffer.1"] = hist_obs.astype(np.float32)
 
             positions, actions, hist_obs = policy.run(None, input_data)