format: pyformat

Author: tenfoldpaper

extensions/rcs_taxim/examples/grasp_digit_demo.py

@@ -36,7 +36,7 @@ def get_object_pose(self, geom_name: str) -> Pose:
         geom_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, geom_name)
         obj_pose_world_coordinates = Pose(
             translation=data.geom_xpos[geom_id], rotation=data.geom_xmat[geom_id].reshape(3, 3)
-        ) * Pose(rpy_vector=np.array([0, 0, -np.pi/4]), translation=np.array([0.0, 0.0, 0.0]))
+        ) * Pose(rpy_vector=np.array([0, 0, -np.pi / 4]), translation=np.array([0.0, 0.0, 0.0]))
         return self._robot.to_pose_in_robot_coordinates(obj_pose_world_coordinates)
 
     def generate_waypoints(self, start_pose: Pose, end_pose: Pose, num_waypoints: int) -> list[Pose]:

python/rcs/sim/composer.py

@@ -330,4 +330,4 @@ def _apply_gravcomp(self):
 
         for joint in self.spec.joints:
             if joint.name and any(joint.name.startswith(prefix) for prefix in self._gravcomp_prefixes):
-                joint.actgravcomp = True
+                joint.actgravcomp = True