linting: added example and test code, fixed ruff errors

Author: juelg

Makefile

@@ -1,4 +1,4 @@
-PYSRC = python/rcsss
+PYSRC = python
 CPPSRC = src
 COMPILE_MODE = Release
 

python/examples/env_cartesian_control.py

@@ -1,6 +1,5 @@
 import logging
 
-from dotenv import dotenv_values
 from rcsss.control.fr3_desk import FCI, Desk, DummyResourceManager
 from rcsss.control.utils import load_creds_fr3_desk
 from rcsss.envs.base import ControlMode, RelativeTo, RobotInstance

python/examples/env_joint_control.py

@@ -1,9 +1,6 @@
 import logging
 
-import mujoco
 import numpy as np
-import rcsss
-from dotenv import dotenv_values
 from rcsss.control.fr3_desk import FCI, Desk, DummyResourceManager
 from rcsss.control.utils import load_creds_fr3_desk
 from rcsss.envs.base import ControlMode, RelativeTo, RobotInstance

python/examples/fr3.py

@@ -1,10 +1,8 @@
 import logging
 import sys
-from time import sleep
 
 import numpy as np
 import rcsss
-from dotenv import dotenv_values
 from rcsss import sim
 from rcsss._core.hw import FR3Config, IKController
 from rcsss._core.sim import CameraType
@@ -83,7 +81,7 @@ def main():
                 "wrist": SimCameraConfig(identifier="eye-in-hand_0", type=int(CameraType.fixed)),
             }
             cam_cfg = SimCameraSetConfig(cameras=cameras, resolution_width=1280, resolution_height=720, frame_rate=20)
-            camera_set = SimCameraSet(simulation, cam_cfg)
+            camera_set = SimCameraSet(simulation, cam_cfg) # noqa: F841
             simulation.open_gui()
 
         else:

python/examples/grasp_demo.py

@@ -4,7 +4,6 @@
 import mujoco
 import numpy as np
 from rcsss._core.common import Pose
-from rcsss._core.sim import FR3State
 from rcsss.envs.base import GripperWrapper
 
 logger = logging.getLogger(__name__)
@@ -34,9 +33,7 @@ def generate_waypoints(self, start_pose: Pose, end_pose: Pose, num_waypoints: in
         return waypoints
 
     def step(self, action: np.ndarray) -> dict:
-        re = self.env.step(action)
-        s: FR3State = self.env.unwrapped.robot.get_state()
-        return re[0]
+        return self.env.step(action)[0]
 
     def plan_linear_motion(self, geom_name: str, delta_up: float, num_waypoints: int = 20) -> list[Pose]:
         end_eff_pose = self.env.unwrapped.robot.get_cartesian_position()
@@ -47,8 +44,7 @@ def plan_linear_motion(self, geom_name: str, delta_up: float, num_waypoints: int
         # this does not work if the object is flipped
         goal_pose *= Pose(translation=[0, 0, delta_up], quaternion=[1, 0, 0, 0])
 
-        waypoints = self.generate_waypoints(end_eff_pose, goal_pose, num_waypoints=num_waypoints)
-        return waypoints
+        return self.generate_waypoints(end_eff_pose, goal_pose, num_waypoints=num_waypoints)
 
     def execute_motion(self, waypoints: list[Pose], gripper: float = GripperWrapper.BINARY_GRIPPER_OPEN) -> dict:
         for i in range(1, len(waypoints)):

python/tests/test_common.py

@@ -10,7 +10,7 @@ class TestPose:
     This class tests the methods of the Pose class and its multiple constructors.
     """
 
-    @pytest.fixture
+    @pytest.fixture()
     def identity_pose(self):
         """This fixture can be reused wherever if no transformation pose is needed"""
         return common.Pose()

python/tests/test_envs.py

@@ -77,7 +77,7 @@ class Composed(AdvancedNestedSpaceWithLambda, SimpleSpace): ...
 class TestGetSpace:
 
     def test_simple_space(self):
-        get_space(SimpleSpace) == gym.spaces.Dict(
+        assert get_space(SimpleSpace) == gym.spaces.Dict(
             {
                 "my_int": gym.spaces.Discrete(1),
                 "my_float": gym.spaces.Box(low=0, high=1, shape=(1,), dtype=np.float32),
@@ -196,4 +196,4 @@ def test_composed_space(self):
         )
 
     def test_get_space_keys(self):
-        get_space_keys(SimpleSpace) == {"my_int", "my_float"}
+        assert set(get_space_keys(SimpleSpace)) == {"my_int", "my_float"}

python/tests/test_sim_envs.py

@@ -1,4 +1,3 @@
-from collections import OrderedDict
 import numpy as np
 import pytest
 import rcsss
@@ -7,23 +6,22 @@
     default_fr3_sim_robot_cfg,
     default_mujoco_cameraset_cfg,
     fr3_sim_env,
-    get_urdf_path,
 )
 
 from rcsss.envs.base import ControlMode, TRPYDictType, GripperDictType, TQuartDictType, JointsDictType
 
 
-@pytest.fixture
+@pytest.fixture()
 def cfg():
     return default_fr3_sim_robot_cfg()
 
 
-@pytest.fixture
+@pytest.fixture()
 def gripper_cfg():
     return default_fr3_sim_gripper_cfg()
 
 
-@pytest.fixture
+@pytest.fixture()
 def cam_cfg():
     return default_mujoco_cameraset_cfg()
 
@@ -203,7 +201,7 @@ def test_relative_zero_action_tquart(self, cfg, gripper_cfg, cam_cfg):
             ControlMode.CARTESIAN_TQuart,
             cfg,
             gripper_cfg=gripper_cfg,
-            camera_set_cfg=None,
+            camera_set_cfg=cam_cfg,
             max_relative_movement=0.5,
         )
         obs_initial, _ = env_rel.reset()