linting

kscalelabs · Jan 4, 2025 · 03e16c6 · 03e16c6
1 parent bef3951
commit 03e16c6
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Showing 3 changed files with 5 additions and 6 deletions.
diff --git a/sim/envs/__init__.py b/sim/envs/__init__.py
@@ -18,10 +18,10 @@
 from sim.envs.humanoids.h1_env import H1FreeEnv
 from sim.envs.humanoids.xbot_config import XBotCfg, XBotCfgPPO
 from sim.envs.humanoids.xbot_env import XBotLFreeEnv
-from sim.envs.humanoids.zeroth_config import ZerothCfg, ZerothCfgPPO
-from sim.envs.humanoids.zeroth_env import ZerothEnv
 from sim.envs.humanoids.zbot2_config import ZBot2Cfg, ZBot2CfgPPO
 from sim.envs.humanoids.zbot2_env import ZBot2Env
+from sim.envs.humanoids.zeroth_config import ZerothCfg, ZerothCfgPPO
+from sim.envs.humanoids.zeroth_env import ZerothEnv
 from sim.utils.task_registry import TaskRegistry  # noqa: E402
 
 task_registry = TaskRegistry()
@@ -31,5 +31,5 @@
 task_registry.register("h1", H1FreeEnv, H1Cfg(), H1CfgPPO())
 task_registry.register("g1", G1FreeEnv, G1Cfg(), G1CfgPPO())
 task_registry.register("XBotL_free", XBotLFreeEnv, XBotCfg(), XBotCfgPPO())
+task_registry.register("zbot2", ZBot2Env, ZBot2Cfg(), ZBot2CfgPPO())
 task_registry.register("zeroth", ZerothEnv, ZerothCfg(), ZerothCfgPPO())
-task_registry.register("zbot2", ZBot2Env, ZBot2Cfg(), ZBot2CfgPPO())
diff --git a/sim/envs/humanoids/zbot2_config.py b/sim/envs/humanoids/zbot2_config.py
@@ -42,7 +42,7 @@ class asset(LeggedRobotCfg.asset):
 
         termination_height = 0.05
         default_feet_height = 0.01
-    
+
         penalize_contacts_on = []
         self_collisions = 1  # 1 to disable, 0 to enable...bitwise filter
         flip_visual_attachments = False

diff --git a/sim/resources/zbot2/joints.py b/sim/resources/zbot2/joints.py
@@ -182,6 +182,7 @@ def damping(cls) -> Dict[str, float]:
             "knee_pitch": 0.3,
             "ankle_pitch": 0.3,
         }
+
     @classmethod
     def effort(cls) -> Dict[str, float]:
         return {
@@ -192,7 +193,6 @@ def effort(cls) -> Dict[str, float]:
             "ankle_pitch": 1,
         }
 
-
     # vel_limits
     @classmethod
     def velocity(cls) -> Dict[str, float]:
@@ -204,7 +204,6 @@ def velocity(cls) -> Dict[str, float]:
             "ankle_pitch": 20,
         }
 
-
     @classmethod
     def friction(cls) -> Dict[str, float]:
         """Example friction dictionary for certain joints."""