Merge pull request #130 from YilingQiao/main

add pre-commit hook for black

.pre-commit-config.yaml

@@ -0,0 +1,6 @@
+repos:
+  - repo: https://github.com/psf/black
+    rev: 23.9.1  # Use the latest version or specify the version you prefer
+    hooks:
+      - id: black
+        args: ["--config=pyproject.toml"] 

examples/locomotion/go2_backflip.py

@@ -64,7 +64,9 @@ def get_cfgs():
             "dof_vel": 0.05,
         },
     }
-    reward_cfg = {"reward_scales": {},}
+    reward_cfg = {
+        "reward_scales": {},
+    }
     command_cfg = {
         "num_commands": 3,
         "lin_vel_x_range": [0, 0],
@@ -76,16 +78,14 @@ def get_cfgs():
 
 
 class BackflipEnv(Go2Env):
-
     def get_observations(self):
-
         phase = torch.pi * self.episode_length_buf[:, None] / self.max_episode_length
         self.obs_buf = torch.cat(
             [
-                self.base_ang_vel * self.obs_scales['ang_vel'],  # 3
+                self.base_ang_vel * self.obs_scales["ang_vel"],  # 3
                 self.projected_gravity,  # 3
-                (self.dof_pos - self.default_dof_pos) * self.obs_scales['dof_pos'],  # 12
-                self.dof_vel * self.obs_scales['dof_vel'],  # 12
+                (self.dof_pos - self.default_dof_pos) * self.obs_scales["dof_pos"],  # 12
+                self.dof_vel * self.obs_scales["dof_vel"],  # 12
                 self.actions,  # 12
                 self.last_actions,  # 12
                 torch.sin(phase),
@@ -105,6 +105,7 @@ def step(self, actions):
         self.get_observations()
         return self.obs_buf, None, self.rew_buf, self.reset_buf, self.extras
 
+
 def main():
     parser = argparse.ArgumentParser()
     parser.add_argument("-e", "--exp_name", type=str, default="single")