push updates

sim/deploy/config.py

@@ -1,8 +1,9 @@
 """This module contains the configuration dataclasses for the robot."""
 
-import numpy as np
 from dataclasses import dataclass, field
 
+import numpy as np
+
 
 # Default velocity command
 @dataclass

sim/deploy/policy.py

@@ -3,15 +3,14 @@
 import math
 from abc import ABC, abstractmethod
 from collections import deque
-
 from pathlib import Path
 from typing import Union
 
 import numpy as np
 import torch
-
 import utils
-from sim.deploy.config import cmd, RobotConfig
+
+from sim.deploy.config import RobotConfig, cmd
 
 
 class Policy(ABC):

sim/deploy/run.py

@@ -12,18 +12,16 @@
 import mujoco
 import mujoco.viewer
 import numpy as np
-from tqdm import tqdm
-from sim.env import stompy_mjcf_path
-from sim.stompy.joints import StompyFixed
-
 from humanoid.envs import *
 from humanoid.utils import task_registry
-from isaacgym.torch_utils import *
 from isaacgym import gymapi
-
+from isaacgym.torch_utils import *
 from policy import SimPolicy
+from tqdm import tqdm
 
 from sim.deploy.config import RobotConfig
+from sim.env import stompy_mjcf_path
+from sim.stompy.joints import StompyFixed
 
 
 class Worlds(Enum):

sim/scripts/create_mjcf.py

@@ -2,9 +2,9 @@
 """Defines common types and functions for exporting MJCF files.
 
 Run:
-    python sim.scripts/create_mjcf.py
+    python sim/scripts/create_mjcf.py
 
-TODO:
+Todo:
     0. Add IMU right position - base
     1. Add all geoms
     2. Condim 3 and 4 and difference in results
@@ -18,8 +18,8 @@
 
 from kol.formats import mjcf
 
-from sim.stompy.joints import StompyFixed
 from sim.env import stompy_mjcf_path
+from sim.stompy.joints import StompyFixed
 
 logger = logging.getLogger(__name__)