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

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shbang91 · Sep 16, 2024 · 00aaca6 · 00aaca6
1 parent 6b74691
commit 00aaca6
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diff --git a/README.md b/README.md
@@ -28,7 +28,7 @@ $ conda env create -f rpc.yml
 - [Foxglove](https://github.com/foxglove): websocket & schema protocols for robot visualization and parameter operations
 
 
-## :computer: Usage 
+## :computer: Usage
 #### (1) PyBullet
 - Source conda environment:<br/>
 ```
@@ -56,7 +56,7 @@ $ make -j4
 $ ./bin/run_draco
 ```
 #### Keyboard Input
-- Please see the [example implementation](https://github.com/shbang91/rpc/blob/develop/controller/draco_controller/draco_interrupt_handler.cpp) for DRACO 3 
+- Please see the [example implementation](https://github.com/shbang91/rpc/blob/develop/controller/draco_controller/draco_interrupt_handler.cpp) for DRACO 3
 
 ## :tv: Visualization
 #### (1) Foxglove UI (optional)

diff --git a/binding/pycontroller/optimo_controller/CMakeLists.txt b/binding/pycontroller/optimo_controller/CMakeLists.txt
@@ -1,2 +1,2 @@
 pybind11_add_module(optimo_interface_py optimo_interface_pybind_pin.cpp)
-target_link_libraries(optimo_interface_py PUBLIC rpc-optimo-controller)
+target_link_libraries(optimo_interface_py PUBLIC rpc-optimo-controller)
diff --git a/config/go2/sim/pybullet/wbic/pnc.yaml b/config/go2/sim/pybullet/wbic/pnc.yaml
@@ -8,7 +8,7 @@ stance_foot: 1 # 0: left_foot 1: right_foot
 
 state_estimator:
   b_cheater_mode: true ## true: use simulation groundtruth states
-  state_estimator_type: kf ## 1. default (IMU + Leg kinematics) 2. kf 
+  state_estimator_type: kf ## 1. default (IMU + Leg kinematics) 2. kf
   b_use_marg_filter: false   # only used when kf is set to true
 
   foot_reference_frame: 1 #0: left foot, 1: right foot
@@ -34,7 +34,7 @@ state_estimator:
   num_data_com_vel: [10, 10, 10]
 
   ## IF 1: exponential smoother filter parameter
-  #com_vel_time_constant: 0.1 
+  #com_vel_time_constant: 0.1
   com_vel_time_constant: 0.01
   com_vel_err_limit: [1., 1., 1.]
 
@@ -43,7 +43,7 @@ state_estimator:
 
 
 controller:
-  b_smoothing_command: true 
+  b_smoothing_command: true
   smoothing_command_duration: 0.01 ## this will filter the control command at the beginning
   b_use_modified_swing_foot_jac: true
   b_use_filtered_torque: false
@@ -102,7 +102,7 @@ wbc:
     mu: 0.5
     foot_half_length: 0.08
     foot_half_width: 0.04 ## 0.04
-    kp: [0, 0, 0, 0, 0, 0] ## ori, pos order 
+    kp: [0, 0, 0, 0, 0, 0] ## ori, pos order
     kd: [0, 0, 0, 0, 0, 0]
 
   qp:

diff --git a/config/go2/sim/pybullet/wbic/pybullet_params.py b/config/go2/sim/pybullet/wbic/pybullet_params.py
@@ -71,12 +71,65 @@ class Go2JointIdx(object):
 class JointGains(object):
     # kp = 5. * np.ones(27)
     # kd = 0. * np.ones(27)
-    kp = np.array([
-        10, 10, 10, 10, 10, 10, 10, 5, 5, 5, 5, 5, 5, 5, 10, 10, 10, 10, 10,
-        10, 10, 5, 5, 5, 5, 5, 5
-    ])
-    kd = np.array([
-        0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.001, 0.001, 0.001, 0.001,
-        0.001, 0.001, 0.01, 0.01, 0.001, 0.01, 0.01, 0.01, 0.01, 0.01, 0.001,
-        0.001, 0.001, 0.001, 0.001, 0.001
-    ])
+    kp = np.array(
+        [
+            10,
+            10,
+            10,
+            10,
+            10,
+            10,
+            10,
+            5,
+            5,
+            5,
+            5,
+            5,
+            5,
+            5,
+            10,
+            10,
+            10,
+            10,
+            10,
+            10,
+            10,
+            5,
+            5,
+            5,
+            5,
+            5,
+            5,
+        ]
+    )
+    kd = np.array(
+        [
+            0.01,
+            0.01,
+            0.01,
+            0.01,
+            0.01,
+            0.01,
+            0.01,
+            0.001,
+            0.001,
+            0.001,
+            0.001,
+            0.001,
+            0.001,
+            0.01,
+            0.01,
+            0.001,
+            0.01,
+            0.01,
+            0.01,
+            0.01,
+            0.01,
+            0.001,
+            0.001,
+            0.001,
+            0.001,
+            0.001,
+            0.001,
+        ]
+    )
diff --git a/config/optimo/ihwbc_gains.yaml b/config/optimo/ihwbc_gains.yaml
@@ -77,7 +77,7 @@ wbc:
       exp_weight_at_contact : [0., 0., 0.]
       exp_kp : [200., 200., 200.]
       exp_kd : [10., 10., 10.]
-    
+
     f3_pos_task:
       ########################################################################
       ## sim params
@@ -182,19 +182,19 @@ wbc:
       ## sim params
       ########################################################################
       sim_weight : [0., 0., 0., 1e-8, 1e-8, 5e-10] ## trq, force order
-    
+
     f1_rf_task:
       ########################################################################
       ## sim params
       ########################################################################
-      sim_weight : [0., 0., 0., 1e-8, 1e-8, 5e-10] ## trq, force order  
-    
+      sim_weight : [0., 0., 0., 1e-8, 1e-8, 5e-10] ## trq, force order
+
     f2_rf_task:
       ########################################################################
       ## sim params
       ########################################################################
-      sim_weight : [0., 0., 0., 1e-8, 1e-8, 5e-10] ## trq, force order 
-    
+      sim_weight : [0., 0., 0., 1e-8, 1e-8, 5e-10] ## trq, force order
+
     f3_rf_task:
       ########################################################################
       ## sim params
@@ -241,7 +241,7 @@ wbc:
 state_machine:
   initialize:
     init_duration: 2.
-    wait_time: 0. 
+    wait_time: 0.
     target_joint_pos: [0.0, 3.665191429188092, 0.0, -2.0943951023931953, 0.0, -1.0471975511965976, 0.0]
     b_stay_here: false
     task_transit_time: 0.3
@@ -250,7 +250,7 @@ state_machine:
     duration: 0.01
     wait_time: 0.
     b_stay_here: false
-   
+
   ee_traj:
     duration: 1.
     wait_time: 0.

diff --git a/config/optimo/pybullet_simulation.py b/config/optimo/pybullet_simulation.py
@@ -1,4 +1,3 @@
-
 def deg2rad(deg):
     return deg * 3.14159265359 / 180
 
@@ -10,9 +9,12 @@ class Config(object):
     INITIAL_BASE_JOINT_QUAT = [0, 0, 0, 1]
     INITIAL_JOINT_POSITION = [
         deg2rad(0),
-        deg2rad(180), 0.0,
-        deg2rad(-90), 0.0,
-        deg2rad(-90), 0.0
+        deg2rad(180),
+        0.0,
+        deg2rad(-90),
+        0.0,
+        deg2rad(-90),
+        0.0,
     ]
 
     PRINT_ROBOT_INFO = True
@@ -71,5 +73,5 @@ class PlatoJointIdx(object):
 class ActuatorGains(object):
     # KP = [200., 200., 200., 200., 200., 200., 200.]
     # KD = [5., 5., 5., 5., 5., 5., 5.]
-    KP = [0., 0., 0., 0., 0., 0., 0.]
-    KD = [0., 0., 0., 0., 0., 0., 0.]
+    KP = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    KD = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
diff --git a/config/optimo/sim/mujoco/ihwbc/pnc.yaml b/config/optimo/sim/mujoco/ihwbc/pnc.yaml
@@ -59,7 +59,7 @@ wbc:
 state_machine:
   initialize:
     duration: 2.
-    wait_time: 0. 
+    wait_time: 0.
     target_joint_pos: [0.0, 3.665191429188092, 0.0, -2.0943951023931953, 0.0, -1.0471975511965976, 0.0]
     b_stay_here: false
 

diff --git a/config/optimo/sim/pybullet/ihwbc/pnc.yaml b/config/optimo/sim/pybullet/ihwbc/pnc.yaml
@@ -59,7 +59,7 @@ wbc:
 state_machine:
   initialize:
     duration: 2.
-    wait_time: 0. 
+    wait_time: 0.
     target_joint_pos: [0.0, 3.665191429188092, 0.0, -2.0943951023931953, 0.0, -1.0471975511965976, 0.0]
     b_stay_here: false
 

diff --git a/config/optimo/sim/pybullet/ihwbc/pybullet_params.py b/config/optimo/sim/pybullet/ihwbc/pybullet_params.py
@@ -9,9 +9,12 @@ class Config(object):
     INITIAL_BASE_JOINT_QUAT = [0, 0, 0, 1]
     INITIAL_JOINT_POSITION = [
         deg2rad(0),
-        deg2rad(180), 0.0,
-        deg2rad(-90), 0.0,
-        deg2rad(-90), 0.0
+        deg2rad(180),
+        0.0,
+        deg2rad(-90),
+        0.0,
+        deg2rad(-90),
+        0.0,
     ]
 
     PRINT_ROBOT_INFO = True
@@ -70,5 +73,5 @@ class PlatoJointIdx(object):
 class ActuatorGains(object):
     # KP = [200., 200., 200., 200., 200., 200., 200.]
     # KD = [5., 5., 5., 5., 5., 5., 5.]
-    KP = [0., 0., 0., 0., 0., 0., 0.]
-    KD = [0., 0., 0., 0., 0., 0., 0.]
+    KP = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    KD = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
diff --git a/controller/control_architecture.hpp b/controller/control_architecture.hpp
@@ -8,7 +8,7 @@ class ControlArchitecture {
 public:
   ControlArchitecture(PinocchioRobotSystem *robot)
       : robot_(robot), b_loco_state_first_visit_(true),
-        b_manip_state_first_visit_(true){};
+        b_manip_state_first_visit_(true) {};
   virtual ~ControlArchitecture() = default;
 
   virtual void GetCommand(void *command) = 0;

diff --git a/controller/draco_controller/draco_interface.hpp b/controller/draco_controller/draco_interface.hpp
@@ -21,7 +21,7 @@ class DracoSensorData {
         b_rf_contact_(false), lf_contact_normal_(0.), rf_contact_normal_(0.),
         base_joint_pos_(Eigen::Vector3d::Zero()), base_joint_quat_(0, 0, 0, 1),
         base_joint_lin_vel_(Eigen::Vector3d::Zero()),
-        base_joint_ang_vel_(Eigen::Vector3d::Zero()){};
+        base_joint_ang_vel_(Eigen::Vector3d::Zero()) {};
   virtual ~DracoSensorData() = default;
 
   Eigen::Vector4d imu_frame_quat_; // x, y, z, w order
@@ -47,7 +47,7 @@ class DracoCommand {
   DracoCommand()
       : joint_pos_cmd_(Eigen::VectorXd::Zero(draco::n_adof)),
         joint_vel_cmd_(Eigen::VectorXd::Zero(draco::n_adof)),
-        joint_trq_cmd_(Eigen::VectorXd::Zero(draco::n_adof)){};
+        joint_trq_cmd_(Eigen::VectorXd::Zero(draco::n_adof)) {};
   virtual ~DracoCommand() = default;
 
   Eigen::VectorXd joint_pos_cmd_;

diff --git a/controller/go2_controller/go2_interface.hpp b/controller/go2_controller/go2_interface.hpp
@@ -22,7 +22,7 @@ class Go2SensorData {
         RR_normal_force_(0.), base_joint_pos_(Eigen::Vector3d::Zero()),
         base_joint_quat_(0, 0, 0, 1),
         base_joint_lin_vel_(Eigen::Vector3d::Zero()),
-        base_joint_ang_vel_(Eigen::Vector3d::Zero()){};
+        base_joint_ang_vel_(Eigen::Vector3d::Zero()) {};
   virtual ~Go2SensorData() = default;
 
   Eigen::Vector4d imu_frame_quat_; // x, y, z, w order
@@ -52,7 +52,7 @@ class Go2Command {
   Go2Command()
       : joint_pos_cmd_(Eigen::VectorXd::Zero(go2::n_adof)),
         joint_vel_cmd_(Eigen::VectorXd::Zero(go2::n_adof)),
-        joint_trq_cmd_(Eigen::VectorXd::Zero(go2::n_adof)){};
+        joint_trq_cmd_(Eigen::VectorXd::Zero(go2::n_adof)) {};
   virtual ~Go2Command() = default;
 
   Eigen::VectorXd joint_pos_cmd_;

diff --git a/controller/interface.hpp b/controller/interface.hpp
@@ -7,7 +7,7 @@ class InterruptHandler;
 
 class Interface {
 public:
-  Interface() : count_(0), running_time_(0.){};
+  Interface() : count_(0), running_time_(0.) {};
 
   virtual ~Interface() = default;
 

diff --git a/controller/optimo_controller/optimo_controller.cpp b/controller/optimo_controller/optimo_controller.cpp
@@ -17,7 +17,7 @@
 
 // TODO:
 #if B_USE_ZMQ
-//#include "controller/optimo_controller/optimo_data_manager.hpp"
+// #include "controller/optimo_controller/optimo_data_manager.hpp"
 #endif
 
 OptimoController::OptimoController(OptimoTCIContainer *tci_container,

diff --git a/controller/optimo_controller/optimo_interface.cpp b/controller/optimo_controller/optimo_interface.cpp
@@ -13,7 +13,7 @@
 
 // TODO:
 #if B_USE_ZMQ
-//#include "controller/optimo_controller/optimo_data_manager.hpp"
+// #include "controller/optimo_controller/optimo_data_manager.hpp"
 #endif
 
 OptimoInterface::OptimoInterface() : Interface() {

diff --git a/controller/optimo_controller/optimo_interface.hpp b/controller/optimo_controller/optimo_interface.hpp
@@ -18,7 +18,7 @@ class OptimoSensorData {
         joint_trq_(Eigen::VectorXd::Zero(optimo::n_adof)),
         joint_sea_trq_(Eigen::VectorXd::Zero(optimo::n_adof)),
         base_pos_(Eigen::Vector3d::Zero()),
-        base_quat_(Eigen::Vector4d(0., 0., 0., 1.)){};
+        base_quat_(Eigen::Vector4d(0., 0., 0., 1.)) {};
 
   virtual ~OptimoSensorData() = default;
 
@@ -36,7 +36,7 @@ class OptimoCommand {
   OptimoCommand()
       : joint_pos_cmd_(Eigen::VectorXd::Zero(optimo::n_adof)),
         joint_vel_cmd_(Eigen::VectorXd::Zero(optimo::n_adof)),
-        joint_trq_cmd_(Eigen::VectorXd::Zero(optimo::n_adof)){};
+        joint_trq_cmd_(Eigen::VectorXd::Zero(optimo::n_adof)) {};
   virtual ~OptimoCommand() = default;
 
   Eigen::VectorXd joint_pos_cmd_;

diff --git a/controller/optimo_controller/optimo_state_machines/initialize.hpp b/controller/optimo_controller/optimo_state_machines/initialize.hpp
@@ -35,4 +35,4 @@ class Initialize : public StateMachine {
   double task_transit_time_;
 
   MinJerkCurveVec *min_jerk_curves_;
-};
+};
-Original file line number
+Diff line change
@@ Expand Up / @@ -35,4 +35,4 @@ class Initialize : public StateMachine { @@
       double task_transit_time_;
       MinJerkCurveVec *min_jerk_curves_;
-    };
+    };