refactor(env camera): fix linting, remove dict merge, assert available depth

Author: juelg

pyproject.toml

@@ -21,7 +21,6 @@ dependencies = ["websockets>=11.0",
     "pynput~=1.7.7",
     "pillow~=10.3",
     "python-dotenv==1.0.1",
-    "mergedeep==1.3.4",
     # NOTE: when changing the mujoco version, also change it in requirements_dev.txt
     "mujoco==3.1.5"
 ]

python/rcsss/camera/sim.py

@@ -98,7 +98,7 @@ def config(self) -> SimCameraSetConfig:
     @property
     def camera_names(self) -> list[str]:
         """Should return a list of the activated human readable names of the cameras."""
-        return [camera for camera in self._cfg.cameras.keys()]
+        return list(self._cfg.cameras.keys())
 
     @property
     def name_to_identifier(self) -> dict[str, str]:

python/rcsss/envs/base.py

@@ -6,7 +6,6 @@
 
 import gymnasium as gym
 import numpy as np
-from mergedeep import merge
 from rcsss import common, sim
 from rcsss.camera.interface import BaseCameraSet
 from rcsss.envs.space_utils import (
@@ -402,7 +401,7 @@ def __init__(self, env, camera_set: BaseCameraSet, include_depth: bool = False):
 
         self.observation_space: gym.spaces.Dict
         # rgb is always included
-        params = {
+        params: dict = {
             "frame": {
                 "height": camera_set.config.resolution_height,
                 "width": camera_set.config.resolution_width,
@@ -447,22 +446,26 @@ def observation(self, observation: dict, info: dict[str, Any]) -> tuple[dict[str
             observation[self.camera_key] = {}
             info["camera_available"] = False
             return observation, info
+
+        def check_depth(depth):
+            if self.include_depth and depth is None:
+                msg = "Depth is not available in data but still requested."
+                raise ValueError(msg)
+            return self.include_depth
+
         frame_dict: dict[str, dict[str, np.ndarray]] = {
-            camera_name: {
-                self.RGB_KEY: frame.camera.color.data,
-            }
-            for camera_name, frame in frameset.frames.items()
-        }
-        if self.include_depth:
-            merge(
-                frame_dict,
+            camera_name: (
                 {
-                    camera_name: {
-                        self.DEPTH_KEY: frame.camera.depth.data,
-                    }
-                    for camera_name, frame in frameset.frames.items()
-                },
+                    self.RGB_KEY: frame.camera.color.data,
+                }
+                if check_depth(frame.camera.depth)
+                else {
+                    self.RGB_KEY: frame.camera.color.data,
+                    self.DEPTH_KEY: frame.camera.depth.data, # type: ignore
+                }
             )
+            for camera_name, frame in frameset.frames.items()
+        }
         observation[self.camera_key] = frame_dict
 
         info["camera_available"] = True