black formatting

exts/stride.simulator/stride/simulator/backends/backend.py

@@ -11,8 +11,7 @@ class Backend:
     """
 
     def __init__(self):
-        """Initialize the Backend class
-        """
+        """Initialize the Backend class"""
         self._vehicle = None
 
     @property
@@ -70,16 +69,13 @@ def update(self, dt: float):
         pass
 
     def start(self):
-        """Method that when implemented should handle the begining of the simulation of vehicle
-        """
+        """Method that when implemented should handle the begining of the simulation of vehicle"""
         pass
 
     def stop(self):
-        """Method that when implemented should handle the stopping of the simulation of vehicle
-        """
+        """Method that when implemented should handle the stopping of the simulation of vehicle"""
         pass
 
     def reset(self):
-        """Method that when implemented, should handle the reset of the vehicle simulation to its original state
-        """
+        """Method that when implemented, should handle the reset of the vehicle simulation to its original state"""
         pass

exts/stride.simulator/stride/simulator/backends/logger_backend.py

@@ -28,7 +28,9 @@ def __init__(self, config=None):
         if config is None:
             config = {}
         else:
-            assert isinstance(config, dict), "The config parameter must be a dictionary."
+            assert isinstance(
+                config, dict
+            ), "The config parameter must be a dictionary."
 
         self.vehicle_id = config.get("vehicle_id", 0)
         self.update_rate: float = config.get("update_rate", 250.0)  # [Hz]
@@ -73,7 +75,9 @@ def update_sensor(self, sensor_type: str, data):
         elif sensor_type == "Lidar":
             self.update_lidar_data(data)
         else:
-            carb.log_warn(f"Sensor type {sensor_type} is not supported by the ROS2 backend.")
+            carb.log_warn(
+                f"Sensor type {sensor_type} is not supported by the ROS2 backend."
+            )
             pass
         # TODO: Add support for other sensors
 

exts/stride.simulator/stride/simulator/backends/ros2_backend.py

@@ -1,4 +1,3 @@
-
 import os
 import carb
 import numpy as np
@@ -16,15 +15,25 @@
 import rclpy  # pylint: disable=wrong-import-position
 from std_msgs.msg import Float64  # pylint: disable=unused-import, wrong-import-position
 from sensor_msgs.msg import (  # pylint: disable=unused-import, wrong-import-position
-    Imu, PointCloud2, PointField, MagneticField, NavSatFix, NavSatStatus
+    Imu,
+    PointCloud2,
+    PointField,
+    MagneticField,
+    NavSatFix,
+    NavSatStatus,
+)
+from geometry_msgs.msg import (  # pylint: disable=wrong-import-position
+    PoseStamped,
+    TwistStamped,
+    AccelStamped,
 )
-from geometry_msgs.msg import PoseStamped, TwistStamped, AccelStamped  # pylint: disable=wrong-import-position
 
 
 # set environment variable to use ROS2
 os.environ["RMW_IMPLEMENTATION"] = "rmw_cyclonedds_cpp"
 os.environ["ROS_DOMAIN_ID"] = "15"
 
+
 class ROS2Backend(Backend):
     """
     A class representing the ROS2 backend for the simulation.
@@ -62,17 +71,25 @@ def __init__(self, node_name: str):
             rclpy.init()
         self.node = rclpy.create_node(node_name)
 
-
-
         # Create publishers for the state of the vehicle in ENU
-        self.pose_pub = self.node.create_publisher(PoseStamped, node_name + "/state/pose", 10)
-        self.twist_pub = self.node.create_publisher(TwistStamped, node_name + "/state/twist", 10)
-        self.twist_inertial_pub = self.node.create_publisher(TwistStamped, node_name + "/state/twist_inertial", 10)
-        self.accel_pub = self.node.create_publisher(AccelStamped, node_name + "/state/accel", 10)
+        self.pose_pub = self.node.create_publisher(
+            PoseStamped, node_name + "/state/pose", 10
+        )
+        self.twist_pub = self.node.create_publisher(
+            TwistStamped, node_name + "/state/twist", 10
+        )
+        self.twist_inertial_pub = self.node.create_publisher(
+            TwistStamped, node_name + "/state/twist_inertial", 10
+        )
+        self.accel_pub = self.node.create_publisher(
+            AccelStamped, node_name + "/state/accel", 10
+        )
 
         # Create publishers for some sensor data
         self.imu_pub = self.node.create_publisher(Imu, node_name + "/sensors/imu", 10)
-        self.point_cloud_pub = self.node.create_publisher(PointCloud2, node_name + "/sensors/points", 10)
+        self.point_cloud_pub = self.node.create_publisher(
+            PointCloud2, node_name + "/sensors/points", 10
+        )
 
     def update(self, dt: float):
         """
@@ -127,7 +144,9 @@ def update_lidar_data(self, data):
         msg = PointCloud2()
 
         # Flatten LiDAR data
-        points_flat = np.array(data["points"]).reshape(-1, 3)  # Adjust based on your data's structure
+        points_flat = np.array(data["points"]).reshape(
+            -1, 3
+        )  # Adjust based on your data's structure
 
         # Create a PointCloud2 message
         msg = PointCloud2()
@@ -139,7 +158,7 @@ def update_lidar_data(self, data):
         msg.fields = [
             PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1),
             PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1),
-            PointField(name="z", offset=8, datatype=PointField.FLOAT32, count=1)
+            PointField(name="z", offset=8, datatype=PointField.FLOAT32, count=1),
         ]
         msg.is_bigendian = False
         msg.point_step = 12  # Float32, x, y, z
@@ -170,7 +189,9 @@ def update_sensor(self, sensor_type: str, data):
         elif sensor_type == "Lidar":
             self.update_lidar_data(data)
         else:
-            carb.log_warn(f"Sensor type {sensor_type} is not supported by the ROS2 backend.")
+            carb.log_warn(
+                f"Sensor type {sensor_type} is not supported by the ROS2 backend."
+            )
             pass
 
     def update_state(self, state):
@@ -187,7 +208,9 @@ def update_state(self, state):
         accel = AccelStamped()
 
         # Update the header
-        pose.header.stamp = (self.node.get_clock().now().to_msg())  # TODO: fill time when the state was measured.
+        pose.header.stamp = (
+            self.node.get_clock().now().to_msg()
+        )  # TODO: fill time when the state was measured.
         twist.header.stamp = pose.header.stamp
         twist_inertial.header.stamp = pose.header.stamp
         accel.header.stamp = pose.header.stamp

exts/stride.simulator/stride/simulator/extension.py

@@ -33,7 +33,9 @@ def on_startup(self, ext_id):
 
         self._window = ui.Window("Stride Simulator", width=300, height=300)
 
-        self._window.deferred_dock_in("Property", ui.DockPolicy.CURRENT_WINDOW_IS_ACTIVE)
+        self._window.deferred_dock_in(
+            "Property", ui.DockPolicy.CURRENT_WINDOW_IS_ACTIVE
+        )
 
         # Start the extension backend
         self._stride_sim = StrideInterface()
@@ -49,27 +51,32 @@ def on_world():
 
                 def on_environment():
 
-                    self._stride_sim.load_asset(SIMULATION_ENVIRONMENTS["Default Environment"], "/World/layout")
+                    self._stride_sim.load_asset(
+                        SIMULATION_ENVIRONMENTS["Default Environment"], "/World/layout"
+                    )
 
                     label.text = "Load environment"
 
                 def on_simulation():
-
                     async def respawn():
 
                         self._anymal_config = AnymalCConfig()
 
-                        self._anymal = AnymalC(id=0,
-                                               init_pos=[0.0, 0.0, 0.7],
-                                               init_orientation=[0.0, 0.0, 0.0, 1.0],
-                                               config=self._anymal_config)
+                        self._anymal = AnymalC(
+                            id=0,
+                            init_pos=[0.0, 0.0, 0.7],
+                            init_orientation=[0.0, 0.0, 0.0, 1.0],
+                            config=self._anymal_config,
+                        )
 
                         self._current_tasks = self._stride_sim.world.get_current_tasks()
                         await self._stride_sim.world.reset_async()
                         await self._stride_sim.world.pause_async()
 
                         if len(self._current_tasks) > 0:
-                            self._stride_sim.world.add_physics_callback("tasks_step", self._world.step_async)
+                            self._stride_sim.world.add_physics_callback(
+                                "tasks_step", self._world.step_async
+                            )
 
                     asyncio.ensure_future(respawn())
 

exts/stride.simulator/stride/simulator/interfaces/stride_sim_interface.py

@@ -103,8 +103,7 @@ def altitude(self):
         return self._altitude
 
     def initialize_world(self):
-        """Method that initializes the world object
-        """
+        """Method that initializes the world object"""
 
         async def _on_load_world_async():
             if self._world is None:
@@ -243,7 +242,12 @@ def load_asset(self, usd_asset: str, stage_prefix: str):
         success = prim.GetReferences().AddReference(usd_asset)
 
         if not success:
-            raise Exception("The usd asset" + usd_asset + "is not load at stage path " + stage_prefix)
+            raise Exception(
+                "The usd asset"
+                + usd_asset
+                + "is not load at stage path "
+                + stage_prefix
+            )
 
     def set_viewport_camera(self, camera_position, camera_target):
         """Sets the viewport camera to given position and makes it point to another target position.
@@ -256,7 +260,9 @@ def set_viewport_camera(self, camera_position, camera_target):
         # Set the camera view to a fixed value
         set_camera_view(eye=camera_position, target=camera_target)
 
-    def set_world_settings(self, physics_dt=None, stage_units_in_meters=None, rendering_dt=None):
+    def set_world_settings(
+        self, physics_dt=None, stage_units_in_meters=None, rendering_dt=None
+    ):
         """
         Set the current world settings to the pre-defined settings. TODO - finish the implementation of this method.
         For now these new setting will never override the default ones.

exts/stride.simulator/stride/simulator/params.py

@@ -51,7 +51,13 @@
 
 # Add the Isaac Sim assets to the list
 for asset, path in NVIDIA_SIMULATION_ENVIRONMENTS.items():
-    SIMULATION_ENVIRONMENTS[asset] = NVIDIA_ASSETS_PATH + ISAAC_SIM_ENVIRONMENTS + "/" + path
+    SIMULATION_ENVIRONMENTS[asset] = (
+        NVIDIA_ASSETS_PATH + ISAAC_SIM_ENVIRONMENTS + "/" + path
+    )
 
 # Define the default settings for the simulation environment
-DEFAULT_WORLD_SETTINGS = {"physics_dt": 1.0 / 200.0, "stage_units_in_meters": 1.0, "rendering_dt": 1.0 / 60.0}
+DEFAULT_WORLD_SETTINGS = {
+    "physics_dt": 1.0 / 200.0,
+    "stage_units_in_meters": 1.0,
+    "rendering_dt": 1.0 / 60.0,
+}

exts/stride.simulator/stride/simulator/tests/test_hello_world.py

@@ -26,15 +26,16 @@ async def test_hello_public_function(self):
         result = stride.simulator.some_public_function(4)
         self.assertEqual(result, 256)
 
-
     async def test_window_button(self):
 
         # Find a label in our window
         label = ui_test.find("Stride Simulator//Frame/**/Label[*]")
 
         # Find buttons in our window
         add_button = ui_test.find("Stride Simulator//Frame/**/Button[*].text=='Add'")
-        reset_button = ui_test.find("Stride Simulator//Frame/**/Button[*].text=='Reset'")
+        reset_button = ui_test.find(
+            "Stride Simulator//Frame/**/Button[*].text=='Reset'"
+        )
 
         # Click reset button
         await reset_button.click()

exts/stride.simulator/stride/simulator/vehicles/controllers/anymal_controller.py

@@ -2,7 +2,9 @@
 from omni.isaac.core.utils.nucleus import get_assets_root_path
 
 from stride.simulator.vehicles.controllers.controller import Controller
-from stride.simulator.vehicles.controllers.networks.actuator_network import LstmSeaNetwork
+from stride.simulator.vehicles.controllers.networks.actuator_network import (
+    LstmSeaNetwork,
+)
 
 import io
 import numpy as np
@@ -25,8 +27,9 @@ def __init__(self):
         assets_root_path = get_assets_root_path()
 
         # Policy
-        file_content = omni.client.read_file(assets_root_path +
-                                             "/Isaac/Samples/Quadruped/Anymal_Policies/policy_1.pt")[2]
+        file_content = omni.client.read_file(
+            assets_root_path + "/Isaac/Samples/Quadruped/Anymal_Policies/policy_1.pt"
+        )[2]
         file = io.BytesIO(memoryview(file_content).tobytes())
 
         self._policy = torch.jit.load(file)
@@ -36,13 +39,17 @@ def __init__(self):
         self.base_vel_ang_scale = 0.25
         self.joint_pos_scale = 1.0
         self.joint_vel_scale = 0.05
-        self.default_joint_pos = np.array([0.0, 0.4, -0.8, 0.0, -0.4, 0.8, -0.0, 0.4, -0.8, -0.0, -0.4, 0.8])
+        self.default_joint_pos = np.array(
+            [0.0, 0.4, -0.8, 0.0, -0.4, 0.8, -0.0, 0.4, -0.8, -0.0, -0.4, 0.8]
+        )
         self.previous_action = np.zeros(12)
         self._policy_counter = 0
 
         # Actuator network
-        file_content = omni.client.read_file(assets_root_path +
-                                             "/Isaac/Samples/Quadruped/Anymal_Policies/sea_net_jit2.pt")[2]
+        file_content = omni.client.read_file(
+            assets_root_path
+            + "/Isaac/Samples/Quadruped/Anymal_Policies/sea_net_jit2.pt"
+        )[2]
         file = io.BytesIO(memoryview(file_content).tobytes())
         self._actuator_network = LstmSeaNetwork()
         self._actuator_network.setup(file, self.default_joint_pos)
@@ -90,8 +97,9 @@ def advance(self, dt, obs, command):
         current_joint_vel = self.state.joint_velocities
         current_joint_pos = np.array(current_joint_pos.reshape([3, 4]).T.flat)
         current_joint_vel = np.array(current_joint_vel.reshape([3, 4]).T.flat)
-        joint_torques, _ = self._actuator_network.compute_torques(current_joint_pos, current_joint_vel,
-                                                                  self._action_scale * self.action)
+        joint_torques, _ = self._actuator_network.compute_torques(
+            current_joint_pos, current_joint_vel, self._action_scale * self.action
+        )
 
         self._policy_counter += 1