applied pre-commit

serl_robot_infra/franka_env/envs/relative_env.py

@@ -8,7 +8,7 @@ class RelativeFrame(gym.Wrapper):
     """
     This wrapper transforms the observation and action to be expressed in the end-effector frame.
     Optionally, it can transform the tcp_pose into a relative frame defined as the reset pose.
-    
+
     This wrapper is expected to be used on top of the base Franka environment, which has the following
     observation space:
     {
@@ -56,7 +56,9 @@ def reset(self, **kwargs):
         self.adjoint_matrix = self.construct_adjoint_matrix(obs["state"]["tcp_pose"])
         if self.include_relative_pose:
             # Update transformation matrix from the reset pose's relative frame to base frame
-            self.T_r_o_inv = np.linalg.inv(self.construct_homogeneous_matrix(obs["state"]["tcp_pose"]))
+            self.T_r_o_inv = np.linalg.inv(
+                self.construct_homogeneous_matrix(obs["state"]["tcp_pose"])
+            )
 
         # Transform observation to spatial frame
         return self.transform_observation(obs), info
@@ -72,7 +74,7 @@ def transform_observation(self, obs):
         if self.include_relative_pose:
             T_b_o = self.construct_homogeneous_matrix(obs["state"]["tcp_pose"])
             T_b_r = self.T_r_o_inv @ T_b_o
-            
+
             # Reconstruct transformed tcp_pose vector
             p_b_r = T_b_r[:3, 3]
             theta_b_r = R.from_matrix(T_b_r[:3, :3]).as_quat()

serl_robot_infra/franka_env/spacemouse/spacemouse_expert.py

@@ -20,7 +20,7 @@ def _read_spacemouse(self):
             with self.state_lock:
                 self.latest_data["action"] = np.array(
                     [-state.y, state.x, state.z, -state.roll, -state.pitch, -state.yaw]
-                ) # spacemouse axis matched with robot base frame
+                )  # spacemouse axis matched with robot base frame
                 self.latest_data["buttons"] = state.buttons
 
     def get_action(self):