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Fixes linting issue on develop branch. (#5139)
# Description Develop branch was failing the lint check. This MR relints it. ## Fixes # (issue) Fixes lint test failures on `develop`. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. NA ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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source/isaaclab/docs/CHANGELOG.rst

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@@ -12,7 +12,7 @@ Added
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Previously only relative imports and absolute wildcard fallbacks were
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handled; explicit names from absolute packages are now eagerly resolved
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and re-exported.
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Fixed
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^^^^^
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source/isaaclab/test/controllers/test_operational_space.py

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from isaaclab.assets import Articulation
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from isaaclab.assets.articulation import ArticulationCfg
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from isaaclab.controllers import OperationalSpaceController, OperationalSpaceControllerCfg
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from isaaclab.markers import VisualizationMarkers
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from isaaclab.markers.config import FRAME_MARKER_CFG
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from isaaclab.sensors import ContactSensor, ContactSensorCfg
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from isaaclab.utils.math import (
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apply_delta_pose,
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combine_frame_transforms,
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compute_pose_error,
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matrix_from_quat,
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quat_apply_inverse,
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quat_inv,
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subtract_frame_transforms,
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)
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##
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# Pre-defined configs
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from isaaclab.managers import ObservationGroupCfg as ObsGroup
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from isaaclab.managers import ObservationTermCfg as ObsTerm
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from isaaclab.managers import SceneEntityCfg
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from isaaclab.markers import VisualizationMarkers
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from isaaclab.markers.config import FRAME_MARKER_CFG
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from isaaclab.scene import InteractiveSceneCfg
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from isaaclab.sensors import ContactSensor, ContactSensorCfg
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from isaaclab.terrains import TerrainImporterCfg
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from isaaclab.utils import configclass as lab_configclass
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from isaaclab.utils.math import (
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apply_delta_pose,
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combine_frame_transforms,
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compute_pose_error,
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matrix_from_quat,
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quat_apply_inverse,
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quat_inv,
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subtract_frame_transforms,
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)
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from isaaclab_assets import FRANKA_PANDA_CFG, G1_29DOF_CFG # isort:skip
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@@ -1399,9 +1399,7 @@ def test_floating_base_osc_action_term_indexing():
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assert diag.max().item() < 100.0, (
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f"Mass matrix diagonal too large ({diag.max().item():.1f}), possibly contaminated by base DOFs"
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)
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assert torch.allclose(term_mass, term_mass.transpose(-2, -1), atol=1e-5), (
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"Mass matrix should be symmetric"
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)
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assert torch.allclose(term_mass, term_mass.transpose(-2, -1), atol=1e-5), "Mass matrix should be symmetric"
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# --- 10. Verify shapes ---
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assert term_mass.shape == (num_envs, num_arm_joints, num_arm_joints)

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