Updated black version

ami-iit · Jan 26, 2024 · 860c84f · 860c84f
1 parent f85c7b9
commit 860c84f
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Showing 3 changed files with 26 additions and 24 deletions.
diff --git a/src/hippopt/turnkey_planners/humanoid_kinodynamic/planner.py b/src/hippopt/turnkey_planners/humanoid_kinodynamic/planner.py
@@ -515,9 +515,11 @@ def _add_robot_dynamics(self, all_contact_points: list, function_inputs: dict):
         )
         problem.add_dynamics(
             hp.dot(sym.system.centroidal_momentum) == centroidal_dynamics,  # noqa
-            x0=problem.initial(sym.initial_state.centroidal_momentum)
-            if self.settings.periodicity_expression_type is hp.ExpressionType.skip
-            else None,  # noqa
+            x0=(
+                problem.initial(sym.initial_state.centroidal_momentum)
+                if self.settings.periodicity_expression_type is hp.ExpressionType.skip
+                else None
+            ),  # noqa
             dt=sym.dt,
             integrator=default_integrator,
             name="centroidal_momentum_dynamics",
@@ -536,12 +538,12 @@ def _add_contact_kinematic_consistency(
         # Creation of contact kinematics consistency functions
         descriptor = point.descriptor
         if descriptor.foot_frame not in point_kinematics_functions:
-            point_kinematics_functions[
-                descriptor.foot_frame
-            ] = hp_rp.point_position_from_kinematics(
-                kindyn_object=self.kin_dyn_object,
-                frame_name=descriptor.foot_frame,
-                **function_inputs,
+            point_kinematics_functions[descriptor.foot_frame] = (
+                hp_rp.point_position_from_kinematics(
+                    kindyn_object=self.kin_dyn_object,
+                    frame_name=descriptor.foot_frame,
+                    **function_inputs,
+                )
             )
 
         # Consistency between the contact position and the kinematics

diff --git a/src/hippopt/turnkey_planners/humanoid_kinodynamic/variables.py b/src/hippopt/turnkey_planners/humanoid_kinodynamic/variables.py
@@ -180,9 +180,9 @@ def from_feet_contact_points(self, input_points: hp_rp.FeetContactPoints) -> Non
 
 @dataclasses.dataclass
 class ExtendedHumanoid(hp.OptimizationObject):
-    contact_points: hp.CompositeType[
-        FeetContactPointsExtended
-    ] = hp.default_composite_field(factory=FeetContactPointsExtended)
+    contact_points: hp.CompositeType[FeetContactPointsExtended] = (
+        hp.default_composite_field(factory=FeetContactPointsExtended)
+    )
 
     kinematics: hp.CompositeType[hp_rp.FloatingBaseSystem] = hp.default_composite_field(
         cls=hp.Variable, factory=hp_rp.FloatingBaseSystem
@@ -295,9 +295,9 @@ class Variables(hp.OptimizationObject):
     )
 
     settings: dataclasses.InitVar[Settings] = dataclasses.field(default=None)
-    kin_dyn_object: dataclasses.InitVar[
-        adam.casadi.KinDynComputations
-    ] = dataclasses.field(default=None)
+    kin_dyn_object: dataclasses.InitVar[adam.casadi.KinDynComputations] = (
+        dataclasses.field(default=None)
+    )
 
     def __post_init__(
         self,

diff --git a/src/hippopt/turnkey_planners/humanoid_pose_finder/planner.py b/src/hippopt/turnkey_planners/humanoid_pose_finder/planner.py
@@ -164,9 +164,9 @@ class Variables(hp.OptimizationObject):
     minimum_joint_positions: hp.StorageType = hp.default_storage_field(hp.Parameter)
 
     settings: dataclasses.InitVar[Settings] = dataclasses.field(default=None)
-    kin_dyn_object: dataclasses.InitVar[
-        adam.casadi.KinDynComputations
-    ] = dataclasses.field(default=None)
+    kin_dyn_object: dataclasses.InitVar[adam.casadi.KinDynComputations] = (
+        dataclasses.field(default=None)
+    )
 
     def __post_init__(
         self,
@@ -455,12 +455,12 @@ def _add_contact_kinematic_consistency(
         # Creation of contact kinematics consistency functions
         descriptor = point.descriptor
         if descriptor.foot_frame not in point_kinematics_functions:
-            point_kinematics_functions[
-                descriptor.foot_frame
-            ] = hp_rp.point_position_from_kinematics(
-                kindyn_object=self.kin_dyn_object,
-                frame_name=descriptor.foot_frame,
-                **function_inputs,
+            point_kinematics_functions[descriptor.foot_frame] = (
+                hp_rp.point_position_from_kinematics(
+                    kindyn_object=self.kin_dyn_object,
+                    frame_name=descriptor.foot_frame,
+                    **function_inputs,
+                )
             )
 
         # Consistency between the contact position and the kinematics