Format

Author: kevin-thankyou-lin

robosuite/devices/device.py

@@ -162,7 +162,7 @@ def input2action(self, mirror_actions=False, goal_update_mode="target") -> Optio
 
         if hasattr(robot, "torso") and robot.torso is not None:
             # only support single joint torso for now
-            if self.env.robots[0].composite_controller.part_controllers['torso'].joint_dim == 1:
+            if self.env.robots[0].composite_controller.part_controllers["torso"].joint_dim == 1:
                 ac_dict["torso"] = self.get_torso_action(robot, device_torso_input)
 
         # populate action dict items for arm and grippers
@@ -192,7 +192,7 @@ def get_arm_action(self, robot, arm, norm_delta, goal_update_mode="target"):
         assert goal_update_mode in [
             "achieved",
             "target",
-        ], f"goal_update_mode must be either 'achieved' or 'target', got {goal_update_mode}" # update next target either based on achieved pose or current target pose
+        ], f"goal_update_mode must be either 'achieved' or 'target', got {goal_update_mode}"  # update next target either based on achieved pose or current target pose
 
         # TODO: the logic between OSC and while body based ik is fragmented right now. Unify
         if isinstance(robot.part_controllers[arm], OperationalSpaceController):

robosuite/models/robots/robot_model.py

@@ -206,7 +206,7 @@ def add_mobile_base(self, mobile_base: MobileBaseModel):
         # elements to avoid duplicates since mobile base support already has inertial properties
         for child in all_root_children:
             # Skip inertial elements to avoid duplicates with mobile base's own inertial
-            if child.tag != 'inertial':
+            if child.tag != "inertial":
                 mount_support.append(deepcopy(child))
             root.remove(child)
         self.merge_assets(mobile_base)