style: format

Author: juelg

extensions/rcs_realsense/src/rcs_realsense/calibration.py

@@ -1,17 +1,17 @@
 import logging
-from pathlib import Path
 import threading
 import typing
+from pathlib import Path
 from time import sleep
 
 import apriltag
 import cv2
+import diskcache as dc
 import numpy as np
 from rcs._core import common
 from rcs.camera.hw import CalibrationStrategy
 from rcs.camera.interface import Frame
 from tqdm import tqdm
-import diskcache as dc
 
 logger = logging.getLogger(__name__)
 
@@ -22,7 +22,9 @@ class FR3BaseArucoCalibration(CalibrationStrategy):
     def __init__(self, camera_name: str):
         # base frame to camera, world to base frame
         self._cache = dc.Cache(Path.home() / ".cache" / "rcs")
-        self._extrinsics: np.ndarray[tuple[typing.Literal[4], typing.Literal[4]], np.dtype[np.float64]] | None = self._cache.get(f"{camera_name}_extrinsics")  # None
+        self._extrinsics: np.ndarray[tuple[typing.Literal[4], typing.Literal[4]], np.dtype[np.float64]] | None = (
+            self._cache.get(f"{camera_name}_extrinsics")
+        )  # None
         self.camera_name = camera_name
         self.tag_to_world = common.Pose(
             rpy_vector=np.array([np.pi, 0, -np.pi / 2]), translation=np.array([0.145, 0, 0])

python/rcs/envs/utils.py

@@ -94,8 +94,8 @@ def get_tcp_offset(mjcf: str | Path) -> rcs.common.Pose:
         tcp_offset_translation = np.array(model.numeric("tcp_offset_translation").data)
         tcp_offset_rotation_matrix = np.array(model.numeric("tcp_offset_rotation_matrix").data)
         return rcs.common.Pose(
-            translation=tcp_offset_translation, rotation=tcp_offset_rotation_matrix.reshape((3, 3))
-        )  #  type: ignore
+            translation=tcp_offset_translation, rotation=tcp_offset_rotation_matrix.reshape((3, 3))  #  type: ignore
+        )
     except KeyError:
         msg = "No tcp offset found in the model. Using the default tcp offset."
         logging.info(msg)