format

examples/drone/hover_env.py

@@ -3,9 +3,11 @@
 import genesis as gs
 from genesis.utils.geom import quat_to_xyz, transform_by_quat, inv_quat, transform_quat_by_quat
 
+
 def gs_rand_float(lower, upper, shape, device):
     return (upper - lower) * torch.rand(size=shape, device=device) + lower
 
+
 class HoverEnv:
     def __init__(self, num_envs, env_cfg, obs_cfg, reward_cfg, command_cfg, show_viewer=False, device="cuda"):
         self.device = torch.device(device)
@@ -213,17 +215,17 @@ def _reward_target(self):
     def _reward_smooth(self):
         smooth_rew = torch.sum(torch.square(self.actions - self.last_actions), dim=1)
         return smooth_rew
-    
+
     def _reward_crash(self):
         crash_rew = torch.zeros((self.num_envs,), device=self.device, dtype=gs.tc_float)
-        
+
         crash_condition = (
-            (torch.abs(self.base_euler[:, 1]) > self.env_cfg["termination_if_pitch_greater_than"]) |
-            (torch.abs(self.base_euler[:, 0]) > self.env_cfg["termination_if_roll_greater_than"]) |
-            (torch.abs(self.rel_pos[:, 0]) > self.env_cfg["termination_if_x_greater_than"]) |
-            (torch.abs(self.rel_pos[:, 1]) > self.env_cfg["termination_if_y_greater_than"]) |
-            (torch.abs(self.rel_pos[:, 2]) > self.env_cfg["termination_if_z_greater_than"]) |
-            (self.base_pos[:, 2] < self.env_cfg["termination_if_close_to_ground"])
+            (torch.abs(self.base_euler[:, 1]) > self.env_cfg["termination_if_pitch_greater_than"])
+            | (torch.abs(self.base_euler[:, 0]) > self.env_cfg["termination_if_roll_greater_than"])
+            | (torch.abs(self.rel_pos[:, 0]) > self.env_cfg["termination_if_x_greater_than"])
+            | (torch.abs(self.rel_pos[:, 1]) > self.env_cfg["termination_if_y_greater_than"])
+            | (torch.abs(self.rel_pos[:, 2]) > self.env_cfg["termination_if_z_greater_than"])
+            | (self.base_pos[:, 2] < self.env_cfg["termination_if_close_to_ground"])
         )
         crash_rew[crash_condition] = -1
-        return crash_rew
+        return crash_rew

examples/drone/hover_train.py

@@ -86,7 +86,7 @@ def get_cfgs():
         },
     }
     reward_cfg = {
-        "reward_scales":{
+        "reward_scales": {
             "target": 5.0,
             "smooth": -0.001,
             "crash": 1.0,

genesis/ext/pyrender/viewer.py

@@ -16,6 +16,7 @@
 
 from tkinter import Tk
 from tkinter import filedialog
+
 try:
     root = Tk()
     root.withdraw()