fix: linting errors in examples and tests

Author: juelg

pyproject.toml

@@ -101,6 +101,7 @@ ignore = [
   "PLR5501", # elif to reduce indentation
   "PT018",   # assertion should be broken down into multiple parts
   "NPY002",
+  "G004",   # Logging format string does not contain any placeholders
 ]
 
 [tool.pylint.format]

python/examples/env_cartesian_control.py

@@ -44,6 +44,7 @@
 
 
 def main():
+    resource_manger: FCI | DummyResourceManager
     if ROBOT_INSTANCE == RobotInstance.HARDWARE:
         user, pw = load_creds_fr3_desk()
         resource_manger = FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False)
@@ -59,7 +60,7 @@ def main():
                 collision_guard="lab",
                 gripper_cfg=default_fr3_hw_gripper_cfg(),
                 max_relative_movement=0.5,
-                relative_to=RelativeTo.LAST_STEP
+                relative_to=RelativeTo.LAST_STEP,
             )
         else:
             env_rel = fr3_sim_env(
@@ -69,12 +70,12 @@ def main():
                 gripper_cfg=default_fr3_sim_gripper_cfg(),
                 camera_set_cfg=default_mujoco_cameraset_cfg(),
                 max_relative_movement=0.5,
-                relative_to=RelativeTo.LAST_STEP
+                relative_to=RelativeTo.LAST_STEP,
             )
             env_rel.get_wrapper_attr("sim").open_gui()
 
         env_rel.reset()
-        print(env_rel.unwrapped.robot.get_cartesian_position())
+        print(env_rel.unwrapped.robot.get_cartesian_position())  # type: ignore
 
         for _ in range(10):
             for _ in range(10):

python/examples/env_joint_control.py

@@ -45,6 +45,7 @@
 
 
 def main():
+    resource_manger: FCI | DummyResourceManager
     if ROBOT_INSTANCE == RobotInstance.HARDWARE:
         user, pw = load_creds_fr3_desk()
         resource_manger = FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False)

python/examples/fr3.py

@@ -55,49 +55,54 @@ def main():
     if "lab" not in rcsss.scenes:
         logger.error("This pip package was not built with the UTN lab models, aborting.")
         sys.exit()
+    resource_manger: FCI | DummyResourceManager
     if ROBOT_INSTANCE == RobotInstance.HARDWARE:
         user, pw = load_creds_fr3_desk()
         resource_manger = FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False)
     else:
         resource_manger = DummyResourceManager()
 
     with resource_manger:
+        robot: rcsss.common.Robot
+        gripper: rcsss.common.Gripper
         if ROBOT_INSTANCE == RobotInstance.SIMULATION:
             simulation = sim.Sim(rcsss.scenes["fr3_empty_world"])
             urdf_path = get_urdf_path(URDF_PATH, allow_none_if_not_found=False)
+            assert urdf_path is not None
             ik = rcsss.common.IK(urdf_path)
             robot = rcsss.sim.FR3(simulation, "0", ik)
             cfg = sim.FR3Config()
             cfg.tcp_offset = rcsss.common.Pose(rcsss.common.FrankaHandTCPOffset())
             cfg.realtime = False
             robot.set_parameters(cfg)
 
-            gripper_cfg = sim.FHConfig()
-            gripper = sim.FrankaHand(simulation, "0", gripper_cfg)
+            gripper_cfg_sim = sim.FHConfig()
+            gripper = sim.FrankaHand(simulation, "0", gripper_cfg_sim)
 
             # add camera to have a rendering gui
             cameras = {
                 "default_free": SimCameraConfig(identifier="", type=int(CameraType.default_free)),
                 "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) # noqa: F841
+            camera_set = SimCameraSet(simulation, cam_cfg)  # noqa: F841
             simulation.open_gui()
 
         else:
             urdf_path = get_urdf_path(URDF_PATH, allow_none_if_not_found=False)
+            assert urdf_path is not None
             ik = rcsss.common.IK(urdf_path)
-            robot = rcsss.hw.FR3(ROBOT_IP, str(rcsss.scenes["lab"].parent / "fr3.urdf"), ik)
+            robot = rcsss.hw.FR3(ROBOT_IP, ik)
             robot_cfg = FR3Config()
             robot_cfg.tcp_offset = rcsss.common.Pose(rcsss.common.FrankaHandTCPOffset())
             robot_cfg.controller = IKController.robotics_library
             robot.set_parameters(robot_cfg)
 
-            gripper_cfg = rcsss.hw.FHConfig()
-            gripper_cfg.epsilon_inner = gripper_cfg.epsilon_outer = 0.1
-            gripper_cfg.speed = 0.1
-            gripper_cfg.force = 30
-            gripper = rcsss.hw.FrankaHand(ROBOT_IP, gripper_cfg)
+            gripper_cfg_hw = rcsss.hw.FHConfig()
+            gripper_cfg_hw.epsilon_inner = gripper_cfg_hw.epsilon_outer = 0.1
+            gripper_cfg_hw.speed = 0.1
+            gripper_cfg_hw.force = 30
+            gripper = rcsss.hw.FrankaHand(ROBOT_IP, gripper_cfg_hw)
             input("the robot is going to move, press enter whenever you are ready")
 
         # move to home position and open gripper
@@ -113,7 +118,7 @@ def main():
         )
         if ROBOT_INSTANCE == RobotInstance.SIMULATION:
             simulation.step_until_convergence()
-            logger.debug(f"IK success: {robot.get_state().ik_success}")
+            logger.debug(f"IK success: {robot.get_state().ik_success}")  # type: ignore
             logger.debug(f"sim converged: {simulation.is_converged()}")
 
         # 5cm in y direction
@@ -122,7 +127,7 @@ def main():
         )
         if ROBOT_INSTANCE == RobotInstance.SIMULATION:
             simulation.step_until_convergence()
-            logger.debug(f"IK success: {robot.get_state().ik_success}")
+            logger.debug(f"IK success: {robot.get_state().ik_success}")  # type: ignore
             logger.debug(f"sim converged: {simulation.is_converged()}")
 
         # 5cm in z direction
@@ -131,7 +136,7 @@ def main():
         )
         if ROBOT_INSTANCE == RobotInstance.SIMULATION:
             simulation.step_until_convergence()
-            logger.debug(f"IK success: {robot.get_state().ik_success}")
+            logger.debug(f"IK success: {robot.get_state().ik_success}")  # type: ignore
             logger.debug(f"sim converged: {simulation.is_converged()}")
 
         # rotate the arm 90 degrees around the inverted y and z axis
@@ -141,7 +146,7 @@ def main():
         robot.set_cartesian_position(new_pose)
         if ROBOT_INSTANCE == RobotInstance.SIMULATION:
             simulation.step_until_convergence()
-            logger.debug(f"IK success: {robot.get_state().ik_success}")
+            logger.debug(f"IK success: {robot.get_state().ik_success}")  # type: ignore
             logger.debug(f"sim converged: {simulation.is_converged()}")
 
         if ROBOT_INSTANCE == RobotInstance.HARDWARE:
@@ -155,7 +160,7 @@ def main():
         )
         if ROBOT_INSTANCE == RobotInstance.SIMULATION:
             simulation.step_until_convergence()
-            logger.debug(f"IK success: {robot.get_state().ik_success}")
+            logger.debug(f"IK success: {robot.get_state().ik_success}")  # type: ignore
             logger.debug(f"sim converged: {simulation.is_converged()}")
 
         # grasp the object
@@ -170,7 +175,7 @@ def main():
         )
         if ROBOT_INSTANCE == RobotInstance.SIMULATION:
             simulation.step_until_convergence()
-            logger.debug(f"IK success: {robot.get_state().ik_success}")
+            logger.debug(f"IK success: {robot.get_state().ik_success}")  # type: ignore
             logger.debug(f"sim converged: {simulation.is_converged()}")
 
         if ROBOT_INSTANCE == RobotInstance.HARDWARE:

python/examples/grasp_demo.py

@@ -1,10 +1,11 @@
 import logging
+from typing import Any, cast
 
 import gymnasium as gym
 import mujoco
 import numpy as np
 from rcsss._core.common import Pose
-from rcsss.envs.base import GripperWrapper
+from rcsss.envs.base import FR3Env, GripperWrapper
 
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.INFO)
@@ -13,9 +14,10 @@
 class PickUpDemo:
     def __init__(self, env: gym.Env):
         self.env = env
-        self.home_pose = self.env.unwrapped.robot.get_cartesian_position()
+        self.unwrapped: FR3Env = cast(FR3Env, self.env.unwrapped)
+        self.home_pose = self.unwrapped.robot.get_cartesian_position()
 
-    def _action(self, pose: Pose, gripper: float) -> np.ndarray:
+    def _action(self, pose: Pose, gripper: float) -> dict[str, Any]:
         return {"xyzrpy": pose.xyzrpy(), "gripper": gripper}
 
     def get_object_pose(self, geom_name) -> Pose:
@@ -32,17 +34,17 @@ def generate_waypoints(self, start_pose: Pose, end_pose: Pose, num_waypoints: in
             waypoints.append(start_pose.interpolate(end_pose, t))
         return waypoints
 
-    def step(self, action: np.ndarray) -> dict:
+    def step(self, action: dict) -> dict:
         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()
+        end_eff_pose = self.unwrapped.robot.get_cartesian_position()
 
         goal_pose = self.get_object_pose(geom_name=geom_name)
         # goal pose is above the object and gripper coordinate must flip z-axis (end effector base rotation is [1, 0, 0, 0])
         # be careful we define identity quaternion as as [0, 0, 0, 1]
         # this does not work if the object is flipped
-        goal_pose *= Pose(translation=[0, 0, delta_up], quaternion=[1, 0, 0, 0])
+        goal_pose *= Pose(translation=np.array([0, 0, delta_up]), quaternion=np.array([1, 0, 0, 0]))
 
         return self.generate_waypoints(end_eff_pose, goal_pose, num_waypoints=num_waypoints)
 
@@ -68,7 +70,7 @@ def grasp(self, geom_name: str):
         self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_CLOSED)
 
     def move_home(self):
-        end_eff_pose = self.env.unwrapped.robot.get_cartesian_position()
+        end_eff_pose = self.unwrapped.robot.get_cartesian_position()
         waypoints = self.generate_waypoints(end_eff_pose, self.home_pose, num_waypoints=10)
         self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_CLOSED)
 

python/rcsss/envs/factories.py

@@ -18,8 +18,6 @@
     ControlMode,
     FR3Env,
     GripperWrapper,
-    LimitedJointsRelDictType,
-    ObsArmsGrCam,
     RelativeActionSpace,
     RelativeTo,
 )
@@ -186,7 +184,7 @@ def fr3_sim_env(
     urdf_path: str | PathLike | None = None,
     mjcf: str | PathLike = "fr3_empty_world",
     sim_wrapper: Type[SimWrapper] | None = None,
-) -> gym.Env[ObsArmsGrCam, LimitedJointsRelDictType]:
+) -> gym.Env:
     """
     Creates a simulation environment for the FR3 robot.
 

python/tests/test_sim_envs.py

@@ -1,15 +1,23 @@
+from typing import cast
+
 import numpy as np
 import pytest
 import rcsss
+from rcsss.envs.base import (
+    ControlMode,
+    FR3Env,
+    GripperDictType,
+    JointsDictType,
+    TQuartDictType,
+    TRPYDictType,
+)
 from rcsss.envs.factories import (
     default_fr3_sim_gripper_cfg,
     default_fr3_sim_robot_cfg,
     default_mujoco_cameraset_cfg,
     fr3_sim_env,
 )
 
-from rcsss.envs.base import ControlMode, TRPYDictType, GripperDictType, TQuartDictType, JointsDictType
-
 
 @pytest.fixture()
 def cfg():
@@ -144,14 +152,15 @@ def test_collision_guard_trpy(self, cfg, gripper_cfg, cam_cfg):
             max_relative_movement=0.5,
         )
         obs, _ = env.reset()
-        p1 = env.unwrapped.robot.get_joint_position()
+        unwrapped = cast(FR3Env, env.unwrapped)
+        p1 = unwrapped.robot.get_joint_position()
         # an obvious below ground collision action
         obs["xyzrpy"][0] = 0.3
         obs["xyzrpy"][2] = -0.2
         collision_action = TRPYDictType(xyzrpy=obs["xyzrpy"])
         collision_action.update(GripperDictType(gripper=0))
         _, _, _, _, info = env.step(collision_action)
-        p2 = env.unwrapped.robot.get_joint_position()
+        p2 = unwrapped.robot.get_joint_position()
         self.assert_collision(info)
         # assure that the robot did not move
         assert np.allclose(p1, p2)
@@ -245,14 +254,15 @@ def test_collision_guard_tquart(self, cfg, gripper_cfg, cam_cfg):
             max_relative_movement=None,
         )
         obs, _ = env.reset()
-        p1 = env.unwrapped.robot.get_joint_position()
+        unwrapped = cast(FR3Env, env.unwrapped)
+        p1 = unwrapped.robot.get_joint_position()
         # an obvious below ground collision action
         obs["tquart"][0] = 0.3
         obs["tquart"][2] = -0.2
         collision_action = TQuartDictType(tquart=obs["tquart"])
         collision_action.update(GripperDictType(gripper=0))
         _, _, _, _, info = env.step(collision_action)
-        p2 = env.unwrapped.robot.get_joint_position()
+        p2 = unwrapped.robot.get_joint_position()
         self.assert_collision(info)
         # assure that the robot did not move
         assert np.allclose(p1, p2)
@@ -319,12 +329,13 @@ def test_collision_guard_joints(self, cfg, gripper_cfg, cam_cfg):
             max_relative_movement=None,
         )
         env.reset()
-        p1 = env.unwrapped.robot.get_joint_position()
+        unwrapped = cast(FR3Env, env.unwrapped)
+        p1 = unwrapped.robot.get_joint_position()
         # the below action is a test_case where there is an obvious collision regardless of the gripper action
         collision_act = JointsDictType(joints=np.array([0, 1.78, 0, -1.45, 0, 0, 0], dtype=np.float32))
         collision_act.update(GripperDictType(gripper=1))
         _, _, _, _, info = env.step(collision_act)
-        p2 = env.unwrapped.robot.get_joint_position()
+        p2 = unwrapped.robot.get_joint_position()
 
         self.assert_collision(info)
         # assure that the robot did not move