style: py and cpp format

Author: juelg

examples/fr3/fr3_env_cartesian_control.py

@@ -26,6 +26,7 @@
 ROBOT_INSTANCE = RobotPlatform.SIMULATION
 FR3_IP = "192.168.101.1"
 
+
 def main():
     if ROBOT_INSTANCE == RobotPlatform.SIMULATION:
         env_rel = SimEnvCreator()(
@@ -40,6 +41,7 @@ def main():
     else:
         from rcs_fr3.creators import RCSFR3EnvCreator
         from rcs_fr3.utils import default_fr3_hw_gripper_cfg, default_fr3_hw_robot_cfg
+
         env_rel = RCSFR3EnvCreator()(
             ip=FR3_IP,
             control_mode=ControlMode.CARTESIAN_TQuat,

examples/fr3/fr3_env_joint_control.py

@@ -28,6 +28,7 @@
 ROBOT_INSTANCE = RobotPlatform.SIMULATION
 FR3_IP = "192.168.101.1"
 
+
 def main():
     if ROBOT_INSTANCE == RobotPlatform.SIMULATION:
         env_rel = SimEnvCreator()(
@@ -42,6 +43,7 @@ def main():
     else:
         from rcs_fr3.creators import RCSFR3EnvCreator
         from rcs_fr3.utils import default_fr3_hw_gripper_cfg, default_fr3_hw_robot_cfg
+
         env_rel = RCSFR3EnvCreator()(
             ip=FR3_IP,
             control_mode=ControlMode.JOINTS,

examples/fr3/grasp_demo.py

@@ -29,7 +29,9 @@ def get_object_pose(self, geom_name) -> Pose:
         geom_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, geom_name)
         obj_pose_world_coordinates = Pose(
             translation=data.geom_xpos[geom_id], rotation=data.geom_xmat[geom_id].reshape(3, 3)
-        ) * Pose(rpy_vector=np.array([0, 0, np.pi]), translation=[0, 0, 0])  # type: ignore
+        ) * Pose(
+            rpy_vector=np.array([0, 0, np.pi]), translation=[0, 0, 0]  # type: ignore
+        )
         return self.unwrapped.robot.to_pose_in_robot_coordinates(obj_pose_world_coordinates)
 
     def generate_waypoints(self, start_pose: Pose, end_pose: Pose, num_waypoints: int) -> list[Pose]:

python/rcs/envs/sim.py

@@ -1,4 +1,5 @@
 import logging
+import time
 from typing import Any, SupportsFloat, Type, cast
 
 import gymnasium as gym
@@ -12,11 +13,10 @@
 )
 from rcs.envs.space_utils import ActObsInfoWrapper
 from rcs.envs.utils import default_sim_robot_cfg, default_sim_tilburg_hand_cfg
+from rcs.utils import SimpleFrameRate
 
 import rcs
-import time
 from rcs import sim
-from rcs.utils import SimpleFrameRate
 
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.INFO)
@@ -45,15 +45,15 @@ def __init__(self, env, simulation: sim.Sim, sim_wrapper: SimWrapper | None = No
         self.sim_robot = cast(sim.SimRobot, self.unwrapped.robot)
         self.sim = simulation
         cfg = self.sim.get_config()
-        self.frame_rate = SimpleFrameRate(1/cfg.frequency, "RobotSimWrapper")
+        self.frame_rate = SimpleFrameRate(1 / cfg.frequency, "RobotSimWrapper")
 
     def step(self, action: dict[str, Any]) -> tuple[dict[str, Any], float, bool, bool, dict]:
         _, _, _, _, info = super().step(action)
         cfg = self.sim.get_config()
         if cfg.async_control:
-            self.sim.step(round(1/cfg.frequency / self.sim.model.opt.timestep))
+            self.sim.step(round(1 / cfg.frequency / self.sim.model.opt.timestep))
             if cfg.realtime:
-                self.frame_rate.frame_rate = 1/cfg.frequency
+                self.frame_rate.frame_rate = 1 / cfg.frequency
                 self.frame_rate()
 
         else:

python/rcs/sim/__init__.py

@@ -1,5 +1,6 @@
 from rcs._core.sim import (
     SimCameraConfig,
+    SimConfig,
     SimGripper,
     SimGripperConfig,
     SimGripperState,
@@ -9,7 +10,6 @@
     SimTilburgHand,
     SimTilburgHandConfig,
     SimTilburgHandState,
-    SimConfig,
 )
 from rcs.sim.sim import Sim, gui_loop
 

python/rcs/sim/sim.py

@@ -12,7 +12,7 @@
 import mujoco.viewer
 from rcs._core.sim import GuiClient as _GuiClient
 from rcs._core.sim import Sim as _Sim
-from rcs.sim import egl_bootstrap, SimConfig
+from rcs.sim import SimConfig, egl_bootstrap
 from rcs.utils import SimpleFrameRate
 
 egl_bootstrap.bootstrap()

src/pybind/rcs.cpp

@@ -487,15 +487,11 @@ PYBIND11_MODULE(_core, m) {
       .def_readonly("last_width", &rcs::sim::SimGripperState::last_width)
       .def_readonly("collision", &rcs::sim::SimGripperState::collision);
 
-  py::class_<rcs::sim::SimConfig>(
-      sim, "SimConfig")
+  py::class_<rcs::sim::SimConfig>(sim, "SimConfig")
       .def(py::init<>())
-      .def_readwrite("async_control",
-                     &rcs::sim::SimConfig::async_control)
-      .def_readwrite("realtime",
-                     &rcs::sim::SimConfig::realtime)
-      .def_readwrite("frequency",
-                     &rcs::sim::SimConfig::frequency)
+      .def_readwrite("async_control", &rcs::sim::SimConfig::async_control)
+      .def_readwrite("realtime", &rcs::sim::SimConfig::realtime)
+      .def_readwrite("frequency", &rcs::sim::SimConfig::frequency)
       .def_readwrite("max_convergence_steps",
                      &rcs::sim::SimConfig::max_convergence_steps);
 
@@ -514,7 +510,6 @@ PYBIND11_MODULE(_core, m) {
       .def("_start_gui_server", &rcs::sim::Sim::start_gui_server, py::arg("id"))
       .def("_stop_gui_server", &rcs::sim::Sim::stop_gui_server);
 
-
   py::class_<rcs::sim::SimGripper, rcs::common::Gripper,
              std::shared_ptr<rcs::sim::SimGripper>>(sim, "SimGripper")
       .def(py::init<std::shared_ptr<rcs::sim::Sim>,

src/sim/sim.h

@@ -29,7 +29,7 @@ class Renderer {
 struct SimConfig {
   bool async_control = false;
   bool realtime = false;
-  int frequency = 30; // in Hz
+  int frequency = 30;  // in Hz
   int max_convergence_steps = 500;
 };