Add pyink and isort config. Reformat.

PiperOrigin-RevId: 704533915 Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
2024-12-09 21:10:00 -08:00
parent 6f6244b739
commit f3b3024291
41 changed files with 895 additions and 480 deletions
@@ -90,6 +90,7 @@ class ScanTest(absltest.TestCase):
      if tuple(jnt_types) == (JointType.FREE,):
        return None
      return val + sum(jnt_types)
+
    b_expect = jp.array([[0, 0], [3, 3], [8, 8]])
    b_out = scan.flat(m, no_free, 'jb', 'b', m.jnt_type, b_in)
    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
@@ -99,6 +100,7 @@ class ScanTest(absltest.TestCase):
      if jnt_types.size == 0:
        self.fail('world has no dofs, should not be called')
      return val + sum(jnt_types)
+
    v_in = jp.ones((m.nv, 1))
    scan.flat(m, no_world, 'jv', 'v', m.jnt_type, v_in)

@@ -141,6 +143,7 @@ class ScanTest(absltest.TestCase):
        return None
      carry = jp.zeros_like(val) if carry is None else carry
      return carry + val + sum(jnt_types)
+
    b_expect = jp.array([[0, 0], [3, 3], [8, 8]])
    b_out = scan.body_tree(m, no_free, 'jb', 'b', m.jnt_type, b_in)
    np.testing.assert_equal(np.array(b_out), np.array(b_expect))