chore: fix style to match yapf (#83)

Author: claytonwramsey

scripts/viser_utils.py

@@ -11,10 +11,10 @@ def setup_viser_with_robot(robot_dir, robot_urdf_name):
     robot = ViserUrdf(
         server,
         urdf,
-        load_meshes=True,
-        load_collision_meshes=False,
-        root_node_name="/robot",
-    )
+        load_meshes = True,
+        load_collision_meshes = False,
+        root_node_name = "/robot",
+        )
 
     return server, robot
 
@@ -25,7 +25,7 @@ def add_spheres(
     sphere_radii: Sequence,
     colors: Union[Sequence[int], Sequence[Sequence[int]]] = [],
     prefix: str = "my_sphere",
-):
+    ):
     """
     Add spheres to the env/
     Sphere positions are (N,3) and sphere radii are (N)
@@ -39,11 +39,11 @@ def add_spheres(
         assert len(colors) == len(sphere_positions)
     for i, (sphere_pos, sphere_rad) in enumerate(zip(sphere_positions, sphere_radii)):
         sphere_handles[i] = server.scene.add_icosphere(
-            name=f"{prefix}_{i}",
-            radius=sphere_rad,
-            position=tuple(sphere_pos[:3]),
-            color=tuple(colors[i]),
-        )
+            name = f"{prefix}_{i}",
+            radius = sphere_rad,
+            position = tuple(sphere_pos[:3]),
+            color = tuple(colors[i]),
+            )
     return sphere_handles
 
 
@@ -67,8 +67,8 @@ def add_trajectory(server, waypoints, robot, attachment_handles, attachment_posi
         return
     assert len(attachment_handles) == len(attachment_positions[0])
     traj_slider = server.gui.add_slider(
-        "Current Waypoint", min=0, max=len(waypoints) - 1, step=1, initial_value=0
-    )
+        "Current Waypoint", min = 0, max = len(waypoints) - 1, step = 1, initial_value = 0
+        )
 
     @traj_slider.on_update
     def update_robot_pose(event):

scripts/visualize_viser.py

@@ -7,14 +7,12 @@
 import vamp
 from fire import Fire
 
-
 # Starting configuration
 a = [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]
 
 # Goal configuration
 b = [2.35, 1.0, 0.0, -0.8, 0, 2.5, 0.785]
 
-
 # Problem specification: a list of sphere centers
 problem = [
     [0.55, 0, 0.25],
@@ -31,7 +29,7 @@
     [-0.35, -0.35, 0.8],
     [0, -0.55, 0.8],
     [0.35, -0.35, 0.8],
-]
+    ]
 
 
 def main(
@@ -40,11 +38,10 @@ def main(
     attachment_offset: float = 0.02,
     planner: str = "rrtc",
     **kwargs,
-):
+    ):
 
-    (vamp_module, planner_func, plan_settings, simp_settings) = (
-        vamp.configure_robot_and_planner_with_kwargs("panda", planner, **kwargs)
-    )
+    (vamp_module, planner_func, plan_settings,
+     simp_settings) = (vamp.configure_robot_and_planner_with_kwargs("panda", planner, **kwargs))
 
     # Create an attachment offset on the Z-axis from the end-effector frame
     tf = np.identity(4)
@@ -64,14 +61,14 @@ def main(
 
     _problem_sphere_handles = add_spheres(
         server, np.array(problem), np.array([obstacle_radius] * len(problem))
-    )
+        )
 
     # Add the attchment to the VAMP environment
     e.attach(attachment)
     # Add attachment sphere to visualization
     attachment_sph = add_spheres(
-        server, np.zeros((1, 3)), np.array([attachment_radius]), colors=[[0, 255, 0]]
-    )
+        server, np.zeros((1, 3)), np.array([attachment_radius]), colors = [[0, 255, 0]]
+        )
 
     # Update attachment sphere positions corresponding to the waypoints.
     # this could also be made into a callable that can be called during trajectory viz
@@ -87,9 +84,7 @@ def get_attachment_pos(configuration):
 
     attachment_positions = [get_attachment_pos(pos) for pos in simple.path.numpy()]
 
-    add_trajectory(
-        server, simple.path.numpy(), robot, attachment_sph, attachment_positions
-    )
+    add_trajectory(server, simple.path.numpy(), robot, attachment_sph, attachment_positions)
 
     # display
     while True: