run pre commit

Abhiram824 · Abhiram824 · commit bd14c5e09d75 · 2025-06-17T23:26:04.000-05:00
diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
@@ -170,7 +170,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
-        seed=None
+        seed=None,
     ):
         # settings for table top (hardcoded since it's not an essential part of the environment)
         self.table_full_size = (0.8, 0.3, 0.05)
@@ -314,7 +314,7 @@ def _load_model(self):
                 ensure_object_boundary_in_range=False,
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
-                rng=self.rng
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest
diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py
@@ -314,7 +314,7 @@ def _load_model(self):
             size_max=[0.022, 0.022, 0.022],  # [0.018, 0.018, 0.018])
             rgba=[1, 0, 0, 1],
             material=redwood,
-            rng=self.rng
+            rng=self.rng,
         )
 
         # Create placement initializer
@@ -332,7 +332,7 @@ def _load_model(self):
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
                 z_offset=0.01,
-                rng=self.rng
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest
diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
@@ -189,7 +189,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
-        seed=None
+        seed=None,
     ):
         # task settings
         self.single_object_mode = single_object_mode
@@ -243,7 +243,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
-            seed=seed
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -426,7 +426,7 @@ def _load_model(self):
                         ensure_valid_placement=True,
                         reference_pos=self.table_offset,
                         z_offset=0.02,
-                        rng=self.rng
+                        rng=self.rng,
                     )
                 )
         # Reset sampler before adding any new samplers / objects
diff --git a/robosuite/environments/manipulation/pick_place.py b/robosuite/environments/manipulation/pick_place.py
@@ -211,7 +211,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
-        seed=None
+        seed=None,
     ):
         # task settings
         self.single_object_mode = single_object_mode
@@ -268,7 +268,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
-            seed=seed
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -448,7 +448,7 @@ def _get_placement_initializer(self):
                 ensure_valid_placement=True,
                 reference_pos=self.bin1_pos,
                 z_offset=self.z_offset,
-                rng=self.rng
+                rng=self.rng,
             )
         )
 
@@ -487,7 +487,7 @@ def _get_placement_initializer(self):
                     ensure_valid_placement=False,
                     reference_pos=self.bin1_pos,
                     z_offset=self.bin2_pos[2] - self.bin1_pos[2],
-                    rng=self.rng
+                    rng=self.rng,
                 )
             )
             index += 1
diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py
@@ -175,7 +175,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
-        seed=None
+        seed=None,
     ):
         # settings for table top
         self.table_full_size = table_full_size
@@ -218,7 +218,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
-            seed=seed
+            seed=seed,
         )
 
     def reward(self, action):
@@ -384,7 +384,7 @@ def _load_model(self):
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
                 z_offset=0.01,
-                rng=self.rng
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest
diff --git a/robosuite/environments/manipulation/tool_hang.py b/robosuite/environments/manipulation/tool_hang.py
@@ -211,7 +211,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
-            seed=seed
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -394,7 +394,7 @@ def _get_placement_initializer(self):
                     ensure_valid_placement=False,
                     reference_pos=self.table_offset,
                     z_offset=z_offset,
-                    rng=self.rng
+                    rng=self.rng,
                 )
             )
 
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
@@ -175,7 +175,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
-        seed=None
+        seed=None,
     ):
         # Task settings
         self.prehensile = prehensile
@@ -224,7 +224,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
-            seed=seed
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -368,7 +368,7 @@ def _load_model(self):
                 ensure_object_boundary_in_range=False,
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
-                rng=self.rng
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest
diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
@@ -172,7 +172,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
-        seed=None
+        seed=None,
     ):
         # settings for table top
         self.table_full_size = table_full_size
@@ -352,7 +352,7 @@ def _load_model(self):
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
                 rotation=(np.pi + -np.pi / 3, np.pi + np.pi / 3),
-                rng=self.rng
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -234,7 +234,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
-            seed=seed
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -352,7 +352,7 @@ def _load_model(self):
             material=greenwood,
             rgba=[0, 1, 0, 1],
             joints=None,
-            rng=self.rng
+            rng=self.rng,
         )
 
         # Load hole object
diff --git a/robosuite/environments/manipulation/two_arm_transport.py b/robosuite/environments/manipulation/two_arm_transport.py
@@ -220,7 +220,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
-            seed=seed
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -411,7 +411,7 @@ def _get_placement_initializer(self):
                     ensure_valid_placement=False,
                     reference_pos=table_pos,
                     z_offset=0.001,
-                    rng=self.rng
+                    rng=self.rng,
                 )
             )
 
diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
@@ -235,8 +235,8 @@ def __init__(
         self.table_full_size = self.task_config["table_full_size"]
         self.table_height = self.task_config["table_height"]
         self.table_height_std = self.task_config["table_height_std"]
-        self.delta_height = None # sample variation in height done in load_model
-        self.table_offset = np.array(self.task_config["table_offset"]) 
+        self.delta_height = None  # sample variation in height done in load_model
+        self.table_offset = np.array(self.task_config["table_offset"])
         self.table_friction = self.task_config["table_friction"]
         self.table_friction_std = self.task_config["table_friction_std"]
         self.line_width = self.task_config["line_width"]
@@ -546,7 +546,7 @@ def _load_model(self):
             num_markers=self.num_markers,
             line_width=self.line_width,
             two_clusters=self.two_clusters,
-            rng=self.rng
+            rng=self.rng,
         )
 
         # Arena always gets set to zero origin
diff --git a/robosuite/models/objects/composite/hammer.py b/robosuite/models/objects/composite/hammer.py
@@ -60,7 +60,7 @@ def __init__(
         rgba_head=None,
         rgba_face=None,
         rgba_claw=None,
-        rng=None
+        rng=None,
     ):
         if rng is None:
             rng = np.random.default_rng()
diff --git a/robosuite/utils/placement_samplers.py b/robosuite/utils/placement_samplers.py
@@ -36,7 +36,7 @@ def __init__(
         ensure_valid_placement=True,
         reference_pos=(0, 0, 0),
         z_offset=0.0,
-        rng=None
+        rng=None,
     ):
         if rng is None:
             rng = np.random.default_rng()
@@ -139,7 +139,7 @@ def __init__(
         ensure_valid_placement=True,
         reference_pos=(0, 0, 0),
         z_offset=0.0,
-        rng=None
+        rng=None,
     ):
         self.x_range = x_range
         self.y_range = y_range
@@ -153,7 +153,7 @@ def __init__(
             ensure_valid_placement=ensure_valid_placement,
             reference_pos=reference_pos,
             z_offset=z_offset,
-            rng=rng
+            rng=rng,
         )
 
     def _sample_x(self, object_horizontal_radius):
diff --git a/tests/test_environments/test_env_determinism.py b/tests/test_environments/test_env_determinism.py
@@ -12,16 +12,17 @@
 
 import robosuite as suite
 
+
 def qpos_idx_to_joint_name(sim, idx):
-    
+
     model = sim.model
     for name in model.joint_names:
         addr = model.get_joint_qpos_addr(name)
         if addr == idx:
             return name
-        
+
     return None
- 
+
 
 def test_environment_determinism():
 
@@ -89,12 +90,11 @@ def test_environment_determinism():
             obs = env1.reset()
             obs2 = env2.reset()
 
-
             env1_xml = env1.sim.model.get_xml()
             env2_xml = env2.sim.model.get_xml()
             env1_state = env1.sim.get_state().flatten()
             env2_state = env2.sim.get_state().flatten()
-            
+
             for st_idx in range(env1_state.shape[0]):
                 if env1_state[st_idx] != env2_state[st_idx]:
                     joint_name = qpos_idx_to_joint_name(env1.sim, st_idx)
@@ -103,15 +103,13 @@ def test_environment_determinism():
                     else:
                         print(f"State at index {st_idx} is different between env1 and env2.")
 
-            if  env1_xml != env2_xml:
+            if env1_xml != env2_xml:
                 print("Environment XMLs are not the same! xml1: {}, xml2: {}".format(env1_xml, env2_xml))
                 assert False
             assert np.allclose(env1_state, env2_state), "Environment states are not the same!"
             env1.close()
             env2.close()
 
-            
-
     # Tests passed!
     print("All environment tests passed successfully!")
 

Original file line number	Diff line number	Diff line change
`@@ -211,7 +211,7 @@ def __init__(`
`211`	`211`	`camera_segmentations=camera_segmentations,`
`212`	`212`	`renderer=renderer,`
`213`	`213`	`renderer_config=renderer_config,`
`214`		`- seed=seed`
	`214`	`+ seed=seed,`
`215`	`215`	`)`
`216`	`216`
`217`	`217`	`def reward(self, action=None):`
`@@ -394,7 +394,7 @@ def _get_placement_initializer(self):`
`394`	`394`	`ensure_valid_placement=False,`
`395`	`395`	`reference_pos=self.table_offset,`
`396`	`396`	`z_offset=z_offset,`
`397`		`- rng=self.rng`
	`397`	`+ rng=self.rng,`
`398`	`398`	`)`
`399`	`399`	`)`
`400`	`400`
Original file line number	Diff line number	Diff line change
`@@ -220,7 +220,7 @@ def __init__(`
`220`	`220`	`camera_segmentations=camera_segmentations,`
`221`	`221`	`renderer=renderer,`
`222`	`222`	`renderer_config=renderer_config,`
`223`		`- seed=seed`
	`223`	`+ seed=seed,`
`224`	`224`	`)`
`225`	`225`
`226`	`226`	`def reward(self, action=None):`
`@@ -411,7 +411,7 @@ def _get_placement_initializer(self):`
`411`	`411`	`ensure_valid_placement=False,`
`412`	`412`	`reference_pos=table_pos,`
`413`	`413`	`z_offset=0.001,`
`414`		`- rng=self.rng`
	`414`	`+ rng=self.rng,`
`415`	`415`	`)`
`416`	`416`	`)`
`417`	`417`