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juelgjuelg
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lint: fix python linting errors
1 parent 9af83f6 commit 7dc46b2

11 files changed

Lines changed: 36 additions & 45 deletions

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‎README.md‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@ Flexibly compose your Gymnasium environment to fit your exact training needs. *F
4141
```python
4242
from time import sleep
4343

44+
import gymnasium as gym
4445
import numpy as np
4546
from rcs._core.sim import SimConfig
4647
from rcs.camera.sim import SimCameraSet
@@ -83,7 +84,7 @@ if __name__ == "__main__":
8384

8485
# base env
8586
robot = rcs.sim.SimRobot(simulation, ik, robot_cfg)
86-
env = SimEnv(simulation)
87+
env: gym.Env = SimEnv(simulation)
8788
env = RobotWrapper(env, robot, ControlMode.CARTESIAN_TQuat)
8889

8990
# gripper

‎examples/fr3/fr3_readme.py‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
11
from time import sleep
22

3+
import gymnasium as gym
34
import numpy as np
45
from rcs._core.sim import SimConfig
56
from rcs.camera.sim import SimCameraSet
@@ -42,7 +43,7 @@
4243

4344
# base env
4445
robot = rcs.sim.SimRobot(simulation, ik, robot_cfg)
45-
env = SimEnv(simulation)
46+
env: gym.Env = SimEnv(simulation)
4647
env = RobotWrapper(env, robot, ControlMode.CARTESIAN_TQuat)
4748

4849
# gripper

‎extensions/rcs_fr3/src/rcs_fr3/creators.py‎

Lines changed: 5 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -93,7 +93,7 @@ def __call__( # type: ignore
9393
robot = hw.Franka(ip, ik)
9494
robot.set_config(robot_cfg)
9595

96-
env = HardwareEnv()
96+
env: gym.Env = HardwareEnv()
9797
env = RobotWrapper(env, robot, ControlMode.JOINTS if collision_guard is not None else control_mode)
9898

9999
env = FR3HW(env)
@@ -126,9 +126,7 @@ def __call__( # type: ignore
126126
# )
127127
if relative_to != RelativeTo.NONE:
128128
env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to)
129-
env = CoverWrapper(env)
130-
131-
return env
129+
return CoverWrapper(env)
132130

133131

134132
class RCSFR3MultiEnvCreator(RCSHardwareEnvCreator):
@@ -156,7 +154,8 @@ def __call__( # type: ignore
156154
robots[key] = hw.Franka(ip, ik)
157155
robots[key].set_config(robot_cfg)
158156

159-
envs = {}
157+
envs: dict[str, gym.Env] = {}
158+
env: gym.Env
160159
for key, ip in name2ip.items():
161160
env = HardwareEnv()
162161
env = RobotWrapper(env, robots[key], control_mode)
@@ -175,8 +174,7 @@ def __call__( # type: ignore
175174
camera_set.wait_for_frames()
176175
logger.info("CameraSet started")
177176
env = CameraSetWrapper(env, camera_set)
178-
env = CoverWrapper(env)
179-
return env
177+
return CoverWrapper(env)
180178

181179

182180
class RCSFR3DefaultEnvCreator(RCSHardwareEnvCreator):

‎extensions/rcs_panda/src/rcs_panda/creators.py‎

Lines changed: 5 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -70,7 +70,7 @@ def __call__( # type: ignore
7070
robot = hw.Franka(ip, ik)
7171
robot.set_config(robot_cfg)
7272

73-
env = HardwareEnv()
73+
env: gym.Env = HardwareEnv()
7474
env = RobotWrapper(
7575
env,
7676
robot,
@@ -107,9 +107,7 @@ def __call__( # type: ignore
107107
# )
108108
if max_relative_movement is not None:
109109
env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to)
110-
env = CoverWrapper(env)
111-
112-
return env
110+
return CoverWrapper(env)
113111

114112

115113
class RCSPandaMultiEnvCreator(RCSHardwareEnvCreator):
@@ -136,7 +134,8 @@ def __call__( # type: ignore
136134
robots[ip] = hw.Franka(ip, ik)
137135
robots[ip].set_config(robot_cfg)
138136

139-
envs = {}
137+
envs: dict[str, gym.Env] = {}
138+
env: gym.Env
140139
for ip in ips:
141140
env = HardwareEnv()
142141
env = RobotWrapper(env, robots[ip], control_mode)
@@ -155,5 +154,4 @@ def __call__( # type: ignore
155154
camera_set.wait_for_frames()
156155
logger.info("CameraSet started")
157156
env = CameraSetWrapper(env, camera_set)
158-
env = CoverWrapper(env)
159-
return env
157+
return CoverWrapper(env)

‎extensions/rcs_so101/src/rcs_so101/creators.py‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -35,7 +35,7 @@ def __call__( # type: ignore
3535
urdf=robot_cfg.kinematic_model_path.endswith(".urdf"),
3636
)
3737
robot = SO101(robot_cfg=robot_cfg, ik=ik)
38-
env = HardwareEnv()
38+
env: gym.Env = HardwareEnv()
3939
env = RobotWrapper(env, robot, control_mode, home_on_reset=True)
4040

4141
gripper = SO101Gripper(robot._hf_robot, robot)
@@ -49,9 +49,7 @@ def __call__( # type: ignore
4949

5050
if max_relative_movement is not None:
5151
env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to)
52-
env = CoverWrapper(env)
53-
54-
return env
52+
return CoverWrapper(env)
5553

5654
# For now, the leader-follower teleop script uses the leader object directly
5755
# and doesn't depend on an RCS-provided class.

‎extensions/rcs_ur5e/src/rcs_ur5e/creators.py‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ def __call__( # type: ignore
3838
)
3939
robot = UR5e(ip, ik)
4040
robot.set_config(robot_cfg)
41-
env = HardwareEnv()
41+
env: gym.Env = HardwareEnv()
4242
env = RobotWrapper(env, robot, control_mode, home_on_reset=True)
4343

4444
gripper = RobotiQGripper(ip)
@@ -52,6 +52,4 @@ def __call__( # type: ignore
5252

5353
if max_relative_movement is not None:
5454
env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to)
55-
env = CoverWrapper(env)
56-
57-
return env
55+
return CoverWrapper(env)

‎extensions/rcs_xarm7/src/rcs_xarm7/creators.py‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@ def __call__( # type: ignore
3636
if isinstance(calibration_dir, str):
3737
calibration_dir = Path(calibration_dir)
3838
robot = XArm7(ip=ip)
39-
env = HardwareEnv()
39+
env: gym.Env = HardwareEnv()
4040
env = RobotWrapper(env, robot, control_mode, home_on_reset=True)
4141

4242
if camera_set is not None:
@@ -50,6 +50,4 @@ def __call__( # type: ignore
5050

5151
if max_relative_movement is not None:
5252
env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to)
53-
env = CoverWrapper(env)
54-
55-
return env
53+
return CoverWrapper(env)

‎python/rcs/envs/base.py‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,6 @@
99
import numpy as np
1010
from greenlet import getcurrent, greenlet
1111
from rcs._core.common import Hand, RobotPlatform
12-
from rcs._core.sim import SimRobot
1312
from rcs.camera.interface import BaseCameraSet
1413
from rcs.envs.space_utils import (
1514
ActObsInfoWrapper,
@@ -505,7 +504,9 @@ def reset(
505504
obs = {}
506505
info = {}
507506

508-
seed_ = {key: seed for key in self.envs} if seed is not None else {key: None for key in self.envs}
507+
seed_: dict[str, int | None] = (
508+
{key: seed for key in self.envs} if seed is not None else {key: None for key in self.envs}
509+
)
509510
options_ = options if options is not None else {key: None for key in self.envs}
510511

511512
reset_greenlets = {}

‎python/rcs/envs/creators.py‎

Lines changed: 6 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,6 @@
22
import logging
33
import typing
44
from functools import partial
5-
from typing import Type
65

76
import gymnasium as gym
87
import numpy as np
@@ -86,7 +85,7 @@ def __call__( # type: ignore
8685
# ik = rcs_robotics_library._core.rl.RoboticsLibraryIK(robot_cfg.kinematic_model_path)
8786

8887
robot = rcs.sim.SimRobot(simulation, ik, robot_cfg)
89-
env = SimEnv(simulation)
88+
env: gym.Env = SimEnv(simulation)
9089
env = RobotWrapper(env, robot, control_mode)
9190
assert not (
9291
hand_cfg is not None and gripper_cfg is not None
@@ -129,9 +128,7 @@ def __call__( # type: ignore
129128
# )
130129
if max_relative_movement is not None:
131130
env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to)
132-
env = CoverWrapper(env)
133-
134-
return env
131+
return CoverWrapper(env)
135132

136133

137134
class SimMultiEnvCreator(RCSHardwareEnvCreator):
@@ -163,7 +160,8 @@ def __call__( # type: ignore
163160
cfg.add_postfix("_" + mid)
164161
robots[key] = rcs.sim.SimRobot(sim=simulation, ik=ik, cfg=cfg)
165162

166-
envs = {}
163+
envs: dict[str, gym.Env] = {}
164+
env: gym.Env
167165
for key, mid in name2id.items():
168166
env = SimEnv(simulation)
169167
env = RobotWrapper(env, robots[key], control_mode)
@@ -188,8 +186,7 @@ def __call__( # type: ignore
188186
BaseCameraSet, SimCameraSet(simulation, cameras, physical_units=True, render_on_demand=True)
189187
)
190188
env = CameraSetWrapper(env, camera_set, include_depth=True)
191-
env = CoverWrapper(env)
192-
return env
189+
return CoverWrapper(env)
193190

194191

195192
class SimTaskEnvCreator(EnvCreator):
@@ -257,7 +254,7 @@ def __call__( # type: ignore
257254
)
258255
env_rel = random_env(env_rel)
259256
if mode == "gripper":
260-
env_rel = PickCubeSuccessWrapper(env_rel, cube_joint_name=obj_joint_name)
257+
env_rel = PickCubeSuccessWrapper(env_rel, cube_geom_name=obj_joint_name)
261258

262259
if render_mode == "human":
263260
env_rel.get_wrapper_attr("sim").open_gui()

‎python/rcs/sim/egl_bootstrap.py‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -18,14 +18,13 @@
1818
if name is not None:
1919
try:
2020
import mujoco.egl
21-
import rcs._core as _cxx
2221
from mujoco.egl import GLContext
2322

2423
_egl = ctypes.CDLL(name, mode=os.RTLD_LOCAL | os.RTLD_NOW)
2524
_addr_make_current = ctypes.cast(_egl.eglMakeCurrent, ctypes.c_void_p).value
2625
_ctx = GLContext(max_width=3840, max_height=2160)
27-
_egl_display = mujoco.egl.EGL_DISPLAY.address
28-
_egl_context = _ctx._context.address
26+
_egl_display = int(mujoco.egl.EGL_DISPLAY.address)
27+
_egl_context = int(_ctx._context.address)
2928
_egl_available = True
3029
except Exception:
3130
pass
@@ -37,4 +36,6 @@ def bootstrap():
3736
import rcs._core as _cxx
3837

3938
assert _addr_make_current is not None
39+
assert _egl_display is not None
40+
assert _egl_context is not None
4041
_cxx.common._bootstrap_egl(_addr_make_current, _egl_display, _egl_context)

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