style: python formatting

Author: juelg

README.md

@@ -47,12 +47,12 @@ from rcs.camera.sim import SimCameraSet
 from rcs.envs.base import (
     CameraSetWrapper,
     ControlMode,
+    CoverWrapper,
     GripperWrapper,
     RelativeActionSpace,
     RelativeTo,
     RobotWrapper,
     SimEnv,
-    CoverWrapper,
 )
 from rcs.envs.sim import GripperWrapperSim, RobotSimWrapper
 from rcs.envs.utils import (

examples/fr3/fr3_readme.py

@@ -6,12 +6,12 @@
 from rcs.envs.base import (
     CameraSetWrapper,
     ControlMode,
+    CoverWrapper,
     GripperWrapper,
     RelativeActionSpace,
     RelativeTo,
     RobotWrapper,
     SimEnv,
-    CoverWrapper,
 )
 from rcs.envs.sim import GripperWrapperSim, RobotSimWrapper
 from rcs.envs.utils import (

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -11,14 +11,14 @@
 from rcs.envs.base import (
     CameraSetWrapper,
     ControlMode,
+    CoverWrapper,
     GripperWrapper,
     HandWrapper,
     HardwareEnv,
     MultiRobotWrapper,
     RelativeActionSpace,
     RelativeTo,
     RobotWrapper,
-    CoverWrapper,
 )
 from rcs.envs.creators import RCSHardwareEnvCreator
 from rcs.hand.tilburg_hand import TilburgHand

extensions/rcs_panda/src/rcs_panda/creators.py

@@ -7,14 +7,14 @@
 from rcs.envs.base import (
     CameraSetWrapper,
     ControlMode,
+    CoverWrapper,
     GripperWrapper,
     HandWrapper,
     HardwareEnv,
     MultiRobotWrapper,
     RelativeActionSpace,
     RelativeTo,
     RobotWrapper,
-    CoverWrapper,
 )
 from rcs.envs.creators import RCSHardwareEnvCreator
 from rcs.hand.tilburg_hand import TilburgHand

extensions/rcs_so101/src/rcs_so101/creators.py

@@ -5,12 +5,12 @@
 from rcs.envs.base import (
     CameraSetWrapper,
     ControlMode,
+    CoverWrapper,
     GripperWrapper,
     HardwareEnv,
     RelativeActionSpace,
     RelativeTo,
     RobotWrapper,
-    CoverWrapper,
 )
 from rcs.envs.creators import RCSHardwareEnvCreator
 from rcs_so101 import SO101IK

extensions/rcs_ur5e/src/rcs_ur5e/creators.py

@@ -5,12 +5,12 @@
 from rcs.envs.base import (
     CameraSetWrapper,
     ControlMode,
+    CoverWrapper,
     GripperWrapper,
     HardwareEnv,
     RelativeActionSpace,
     RelativeTo,
     RobotWrapper,
-    CoverWrapper,
 )
 from rcs.envs.creators import RCSHardwareEnvCreator
 from rcs_ur5e.hw import RobotiQGripper, UR5e, UR5eConfig

extensions/rcs_xarm7/src/rcs_xarm7/creators.py

@@ -7,12 +7,12 @@
 from rcs.envs.base import (
     CameraSetWrapper,
     ControlMode,
+    CoverWrapper,
     HandWrapper,
     HardwareEnv,
     RelativeActionSpace,
     RelativeTo,
     RobotWrapper,
-    CoverWrapper,
 )
 from rcs.envs.creators import RCSHardwareEnvCreator
 from rcs.hand.tilburg_hand import THConfig, TilburgHand

python/rcs/envs/base.py

@@ -5,9 +5,9 @@
 from enum import Enum, auto
 from typing import Annotated, Any, ClassVar, Literal, TypeAlias, cast
 
-from greenlet import getcurrent, greenlet
 import gymnasium as gym
 import numpy as np
+from greenlet import getcurrent, greenlet
 from rcs._core.common import Hand, RobotPlatform
 from rcs._core.sim import SimRobot
 from rcs.camera.interface import BaseCameraSet
@@ -22,10 +22,10 @@
     get_space,
     get_space_keys,
 )
+from rcs.utils import SimpleFrameRate
 
 from rcs import common
 from rcs import sim as simulation
-from rcs.utils import SimpleFrameRate
 
 _logger = logging.getLogger(__name__)
 
@@ -200,6 +200,7 @@ def get_home_position(robot: common.Robot) -> np.ndarray:
     """Returns the home position of the robot."""
     return common.robots_meta_config(robot.get_config().robot_type).q_home
 
+
 class BaseEnv(gym.Env):
     PLATFORM: RobotPlatform
 
@@ -213,7 +214,6 @@ def reset(
         return {}, {}
 
 
-
 class HardwareEnv(BaseEnv):
     PLATFORM = RobotPlatform.HARDWARE
 
@@ -247,7 +247,6 @@ def step_sim(self):
     def apply_sim_state(self):
         self.sim.step(1)
 
-
     def reset(
         self, *, seed: int | None = None, options: dict[str, Any] | None = None
     ) -> tuple[dict[str, Any], dict[str, Any]]:
@@ -257,22 +256,24 @@ def reset(
             self.apply_sim_state()
         return super().reset(seed=seed, options=options)
 
+
 class CoverWrapper(gym.Wrapper):
     """The CoverWrapper must be the last wrapper on the stack
-    
+
     Only strictly necessary for simulator environments, but also works for hardware environments.
     It takes care of resetting the simulator before any other wrapper resets its state, already assuming
     a fresh simulator state.
     """
-    def reset(self, *, seed: int | None = None, options: dict[str, Any] | None = None) -> tuple[dict[str, Any], dict[str, Any]]:
+
+    def reset(
+        self, *, seed: int | None = None, options: dict[str, Any] | None = None
+    ) -> tuple[dict[str, Any], dict[str, Any]]:
         if self.env.get_wrapper_attr("PLATFORM") == RobotPlatform.SIMULATION:
             sim = cast(simulation.Sim, self.get_wrapper_attr("sim"))
             sim.reset()
         return super().reset(seed=seed, options=options)
 
 
-
-
 class RobotWrapper(ActObsInfoWrapper):
     """Gym Wrapper for a single robot arm.
 
@@ -333,7 +334,6 @@ def get_robot_obs(self) -> ArmObsType:
             xyzrpy=self.robot.get_cartesian_position().xyzrpy(),
         )
 
-
     def action(self, action: dict[str, Any]) -> dict[str, Any]:
         if (
             self.get_base_control_mode() == ControlMode.CARTESIAN_TQuat
@@ -378,7 +378,6 @@ def observation(self, observation: dict, info: dict[str, Any]) -> tuple[dict[str
         observation.update(self.get_robot_obs())
         return observation, info
 
-
     def reset(
         self, *, seed: int | None = None, options: dict[str, Any] | None = None
     ) -> tuple[dict[str, Any], dict[str, Any]]:
@@ -396,7 +395,7 @@ def close(self):
 class MultiRobotWrapper(gym.Env):
     """Wraps a dictionary of single robot environments to allow for multi robot control.
 
-    Env1  Env2  Env3 
+    Env1  Env2  Env3
       |     |     |
     ----------------
     MultiRobotWrapper
@@ -423,18 +422,21 @@ def __init__(
                 self.PLATFORM = self.envs[env].get_wrapper_attr("PLATFORM")
                 self.lead_env = self.envs[env].unwrapped
             else:
-                assert self.envs[env].get_wrapper_attr("PLATFORM") == self.PLATFORM, "all envs must have the same platform!"
+                assert (
+                    self.envs[env].get_wrapper_attr("PLATFORM") == self.PLATFORM
+                ), "all envs must have the same platform!"
         self._runs_in_sim = self.PLATFORM == RobotPlatform.SIMULATION
         if self._runs_in_sim:
             self._inject_main_greenlet()
             assert isinstance(self.lead_env, SimEnv), "something is wrong with the env, the base should be type SimEnv"
             self.sim = self.lead_env.get_wrapper_attr("sim")
 
-
     def _inject_main_greenlet(self):
         main_gr = getcurrent()
         for env_item in self.envs.values():
-            assert isinstance(env_item.unwrapped, SimEnv), "something is wrong with the env, the base should be type SimEnv"
+            assert isinstance(
+                env_item.unwrapped, SimEnv
+            ), "something is wrong with the env, the base should be type SimEnv"
             env_item.unwrapped.main_greenlet = main_gr
 
     def _translate_pose(self, key, dic, to_world=True):
@@ -472,7 +474,6 @@ def make_step_gr(env_to_step):
             assert isinstance(self.lead_env, SimEnv)
             self.lead_env.step_sim()
 
-
         # follows gym env by combinding a dict of envs into a single env
         obs = {}
         reward = 0.0
@@ -481,7 +482,6 @@ def make_step_gr(env_to_step):
         info = {}
         for key, env in self.envs.items():
 
-
             if self._runs_in_sim:
                 # SIM path: 3. UP: Gather observations
                 # Resume robot greenlet. It returns the step results.
@@ -491,8 +491,6 @@ def make_step_gr(env_to_step):
                 act = self._translate_pose(key, action[key], to_world=False)
                 ob, r, t, tr, info[key] = env.step(act)
 
-
-
             obs[key] = self._translate_pose(key, ob, to_world=True)
             reward += float(r)
             terminated = terminated or t
@@ -510,11 +508,11 @@ def reset(
         seed_ = {key: seed for key in self.envs} if seed is not None else {key: None for key in self.envs}
         options_ = options if options is not None else {key: None for key in self.envs}
 
-
         reset_greenlets = {}
         if self._runs_in_sim:
             # SIM path: 1. DOWN: Reset each robot
             for key, env in self.envs.items():
+
                 def make_reset_gr(env_to_reset, s, o):
                     return greenlet(lambda: env_to_reset.reset(seed=s, options=o))
 
@@ -526,7 +524,6 @@ def make_reset_gr(env_to_reset, s, o):
             assert isinstance(self.lead_env, SimEnv)
             self.lead_env.apply_sim_state()
 
-
         for key, env in self.envs.items():
             if self._runs_in_sim:
                 # SIM path: 3. UP: Gather initial obs
@@ -538,7 +535,6 @@ def make_reset_gr(env_to_reset, s, o):
             obs[key] = self._translate_pose(key, ob, to_world=True)
             info[key] = i
 
-
         return obs, info
 
     def get_wrapper_attr(self, name: str) -> Any:

python/rcs/envs/creators.py

@@ -13,14 +13,14 @@
 from rcs.envs.base import (
     CameraSetWrapper,
     ControlMode,
+    CoverWrapper,
     GripperWrapper,
     HandWrapper,
     MultiRobotWrapper,
     RelativeActionSpace,
     RelativeTo,
     RobotWrapper,
     SimEnv,
-    CoverWrapper,
 )
 from rcs.envs.sim import (
     GripperWrapperSim,