Linting fixes to pass the pre-commit hook checks.

examples/camera_feeds.py

@@ -1,16 +1,15 @@
 import random
 import threading
 import time
+
 import cv2
+
 from stretch_mujoco.enums.actuators import Actuators
 from stretch_mujoco.enums.stretch_cameras import StretchCameras
 from stretch_mujoco.stretch_mujoco_simulator import StretchMujocoSimulator
 
 
-def show_camera_feeds_sync(
-    sim: StretchMujocoSimulator, 
-    print_fps: bool
-):
+def show_camera_feeds_sync(sim: StretchMujocoSimulator, print_fps: bool):
     """
     Pull camera data from the simulator and display it using OpenCV.
 
@@ -20,8 +19,10 @@ def show_camera_feeds_sync(
     camera_data = sim.pull_camera_data()
 
     if print_fps:
-        print(f"Physics fps: {sim.pull_status().fps}. Camera FPS: {camera_data.fps}. {sim.pull_status().sim_to_real_time_ratio_msg}")
-
+        print(
+            f"Physics fps: {sim.pull_status().fps}. Camera FPS: {camera_data.fps}. {sim.pull_status().sim_to_real_time_ratio_msg}"
+        )
+
     for camera_name, pixels in camera_data.get_all(use_depth_color_map=True).items():
         cv2.imshow(camera_name.name, pixels)
 
@@ -33,6 +34,7 @@ def my_control_loop():
         sim.move_to(Actuators.lift, random.random())
         time.sleep(3)
 
+
 if __name__ == "__main__":
     # You can use all the camera's, but it takes longer to render, and may affect the overall simulation FPS.
     # cameras_to_use = StretchCameras.all()
@@ -49,4 +51,4 @@ def my_control_loop():
             show_camera_feeds_sync(sim, True)
 
     except KeyboardInterrupt:
-        sim.stop()
+        sim.stop()

examples/draw_circles.py

@@ -1,6 +1,6 @@
-
 import threading
 import time
+
 import numpy as np
 
 from examples.camera_feeds import show_camera_feeds_sync
@@ -9,11 +9,11 @@
 from stretch_mujoco.stretch_mujoco_simulator import StretchMujocoSimulator
 
 
-def draw_circle(n, diameter_m, arm_init, lift_init, sim:StretchMujocoSimulator):
+def draw_circle(n, diameter_m, arm_init, lift_init, sim: StretchMujocoSimulator):
     """
     From https://forum.hello-robot.com/t/creating-smooth-motion-using-trajectories/671
     """
-    t = np.linspace(0, 2*np.pi, n, endpoint=True)
+    t = np.linspace(0, 2 * np.pi, n, endpoint=True)
     x = (diameter_m / 2) * np.cos(t) + arm_init
     y = (diameter_m / 2) * np.sin(t) + lift_init
     circle_mat = np.c_[x, y]
@@ -25,10 +25,11 @@ def draw_circle(n, diameter_m, arm_init, lift_init, sim:StretchMujocoSimulator):
         sim.wait_until_at_setpoint(Actuators.arm)
         sim.wait_until_at_setpoint(Actuators.lift)
 
+
 def _run_draw_circle():
     time.sleep(2)
     try:
-        while sim.is_running(): 
+        while sim.is_running():
             sim.move_to(Actuators.head_tilt, -1.5707)
             sim.move_to(Actuators.head_pan, -0.7853)
 
@@ -39,13 +40,14 @@ def _run_draw_circle():
 
             sim.move_to(Actuators.gripper, pos=-0.15)
             sim.wait_until_at_setpoint(Actuators.gripper)
-            
+
             status = sim.pull_status()
             draw_circle(25, 0.2, status.arm.pos, status.lift.pos, sim)
             time.sleep(1)
             sim.home()
             time.sleep(2)
-    except ConnectionError: ...
+    except ConnectionError:
+        ...
 
 
 if __name__ == "__main__":
@@ -65,4 +67,4 @@ def _run_draw_circle():
             show_camera_feeds_sync(sim, True)
 
     except KeyboardInterrupt:
-        sim.stop()
+        sim.stop()

examples/gamepad_teleop.py

@@ -3,15 +3,15 @@
 
 import click
 import cv2
-from examples.camera_feeds import show_camera_feeds_sync
 from gamepad_controller import GamePadController
 
+from examples.camera_feeds import show_camera_feeds_sync
 from stretch_mujoco import StretchMujocoSimulator
-from stretch_mujoco.enums.stretch_cameras import StretchCameras
 from stretch_mujoco.enums.actuators import Actuators
+from stretch_mujoco.enums.stretch_cameras import StretchCameras
 
-sim:StretchMujocoSimulator
-gamepad:GamePadController
+sim: StretchMujocoSimulator
+gamepad: GamePadController
 
 button_mapping = {
     "top_pad_pressed": ["wrist_pitch", 1, 0.05],

examples/keyboard_teleop.py

@@ -1,8 +1,8 @@
-from time import sleep
-from pynput import keyboard
 from pprint import pprint
+from time import sleep
 
 import click
+from pynput import keyboard
 
 from examples.camera_feeds import show_camera_feeds_sync
 from examples.laser_scan import show_laser_scan
@@ -95,7 +95,14 @@ def on_release(key, sim: StretchMujocoSimulator):
 @click.option("--imagery", is_flag=True, help="Show all the cameras' imagery")
 @click.option("--lidar", is_flag=True, help="Show the lidar scan in Matplotlib")
 @click.option("--print-ratio", is_flag=True, help="Print the sim-to-real time ratio to the cli.")
-def main(scene_xml_path: str|None, robocasa_env: bool, imagery_nav: bool, imagery: bool, lidar:bool, print_ratio:bool):
+def main(
+    scene_xml_path: str | None,
+    robocasa_env: bool,
+    imagery_nav: bool,
+    imagery: bool,
+    lidar: bool,
+    print_ratio: bool,
+):
     cameras_to_use = StretchCameras.all() if imagery else []
     if imagery_nav:
         cameras_to_use = [StretchCameras.cam_nav_rgb]
@@ -110,9 +117,7 @@ def main(scene_xml_path: str|None, robocasa_env: bool, imagery_nav: bool, imager
         model, xml, objects_info = model_generation_wizard()
 
     sim = StretchMujocoSimulator(
-        model=model,
-        scene_xml_path=scene_xml_path,
-        cameras_to_use=cameras_to_use
+        model=model, scene_xml_path=scene_xml_path, cameras_to_use=cameras_to_use
     )
 
     try:
@@ -140,8 +145,8 @@ def main(scene_xml_path: str|None, robocasa_env: bool, imagery_nav: bool, imager
 
                 try:
                     show_laser_scan(scan_data=sensor_data.get_data(StretchSensors.base_lidar))
-                except: ...
-
+                except:
+                    ...
 
         listener.stop()
 

examples/laser_scan.py

@@ -1,15 +1,19 @@
 import time
+
+import matplotlib
 import matplotlib.pyplot as plt
 import numpy as np
-import matplotlib
+
 from stretch_mujoco.enums.stretch_cameras import StretchCameras
 from stretch_mujoco.enums.stretch_sensors import StretchSensors
 from stretch_mujoco.stretch_mujoco_simulator import StretchMujocoSimulator
 
 try:
     # Some machines seem to need this for matplotlib to work.
     matplotlib.use("TkAgg")
-except: ...
+except:
+    ...
+
 
 def show_laser_scan(scan_data: np.ndarray):
 
@@ -23,20 +27,20 @@ def show_laser_scan(scan_data: np.ndarray):
 
     if len(filtered_distance) == 0:
         return time.sleep(1 / 15)
-    
+
     degrees = np.array(range(len(scan_data)))
     degrees = np.radians(degrees)
-    
+
     degrees_filtered = degrees[mask_lower & mask_upper]
 
     x = filtered_distance * np.cos(degrees_filtered) * -1
     y = filtered_distance * np.sin(degrees_filtered) * -1
 
     degrees_filtered = np.rad2deg(degrees_filtered)
-    front_idx = (degrees_filtered >= 150) & (degrees_filtered <= 210) # ~180
-    back_idx = (degrees_filtered >= 330) | (degrees_filtered <= 30) # ~0
-    right_idx= (degrees_filtered >= 60) & (degrees_filtered <= 120) # ~90
-    left_idx = (degrees_filtered >= 240) & (degrees_filtered <= 300) # ~270
+    front_idx = (degrees_filtered >= 150) & (degrees_filtered <= 210)  # ~180
+    back_idx = (degrees_filtered >= 330) | (degrees_filtered <= 30)  # ~0
+    right_idx = (degrees_filtered >= 60) & (degrees_filtered <= 120)  # ~90
+    left_idx = (degrees_filtered >= 240) & (degrees_filtered <= 300)  # ~270
 
     plt.scatter(x, y, color="r", s=5)
     plt.scatter(x[front_idx], y[front_idx], color="g", s=5)
@@ -45,8 +49,8 @@ def show_laser_scan(scan_data: np.ndarray):
     plt.scatter(x[right_idx], y[right_idx], color="c", s=5)
     max_x = np.abs(x).max()
     max_y = np.abs(y).max()
-    plt.xlim([-max_x-1, max_x+1])
-    plt.ylim([-max_y-1, max_y+1])
+    plt.xlim([-max_x - 1, max_x + 1])
+    plt.ylim([-max_y - 1, max_y + 1])
     plt.legend(["All", "Front", "Back", "Left", "Right"])
 
     plt.pause(1 / 15)
@@ -70,7 +74,8 @@ def show_laser_scan(scan_data: np.ndarray):
 
             try:
                 show_laser_scan(scan_data=sensor_data.get_data(StretchSensors.base_lidar))
-            except: ...
+            except:
+                ...
 
             current_position = status.base.x
 

examples/move_joints.py

@@ -1,9 +1,11 @@
 import random
+
 import numpy as np
 
 from stretch_mujoco.enums.actuators import Actuators
 from stretch_mujoco.stretch_mujoco_simulator import StretchMujocoSimulator
 
+
 def lift_sequence():
     LIFT_START_POS = 0.1
     MOVE_LIFT_BY = 0.5
@@ -14,15 +16,19 @@ def lift_sequence():
     start_lift_position = sim.pull_status().lift.pos
 
     if not np.isclose(start_lift_position, LIFT_START_POS, atol=0.05):
-        print(f"The lift did not move to the starting position. Should be at {LIFT_START_POS}, but is at {start_lift_position:.2f} instead.")
+        print(
+            f"The lift did not move to the starting position. Should be at {LIFT_START_POS}, but is at {start_lift_position:.2f} instead."
+        )
 
     sim.move_by(Actuators.lift, MOVE_LIFT_BY)
     sim.wait_while_is_moving(Actuators.lift)
 
     current_lift_position = sim.pull_status().lift.pos
-    
+
     if not np.isclose(start_lift_position, current_lift_position, atol=0.05):
-        print(f"The lift did not move by the specified amount. Asked to move from {start_lift_position:.4f} by {MOVE_LIFT_BY}, but ended up at {current_lift_position:.4f}. Should be {start_lift_position + MOVE_LIFT_BY :.4f}")
+        print(
+            f"The lift did not move by the specified amount. Asked to move from {start_lift_position:.4f} by {MOVE_LIFT_BY}, but ended up at {current_lift_position:.4f}. Should be {start_lift_position + MOVE_LIFT_BY :.4f}"
+        )
 
 
 if __name__ == "__main__":
@@ -51,8 +57,8 @@ def lift_sequence():
                 target *= -1
                 sim.set_base_velocity(v_linear=5.0, omega=30)
 
-            sim.move_to(Actuators.head_pan, random.random()-0.5)
-            sim.move_to(Actuators.head_tilt, random.random()-0.5)
+            sim.move_to(Actuators.head_pan, random.random() - 0.5)
+            sim.move_to(Actuators.head_tilt, random.random() - 0.5)
             sim.wait_until_at_setpoint(Actuators.head_pan)
             sim.wait_until_at_setpoint(Actuators.head_tilt)
 

examples/robocasa_environment.py

@@ -17,7 +17,7 @@ def main(task: str, layout: int, style: int, write_to_file):
     # You can use all the camera's, but it takes longer to render, and may affect the overall simulation FPS.
     # cameras_to_use = StretchCameras.all()
     cameras_to_use = [StretchCameras.cam_d405_rgb]
-    
+
     model, xml, objects_info = model_generation_wizard(
         task=task,
         layout=layout,

examples/test_one_process.py

@@ -1,10 +1,8 @@
-from multiprocessing import Manager
 import signal
 import threading
+from multiprocessing import Manager
 
-from stretch_mujoco.mujoco_server import MujocoServer
-
-from stretch_mujoco.mujoco_server import MujocoServerProxies
+from stretch_mujoco.mujoco_server import MujocoServer, MujocoServerProxies
 
 _manager = Manager()
 data_proxies = MujocoServerProxies.default(_manager)
@@ -14,11 +12,11 @@
 signal.signal(signal.SIGINT, lambda num, frame: event.set())
 
 MujocoServer.launch_server(
-    scene_xml_path=None, 
-    model=None, 
-    camera_hz=30, 
+    scene_xml_path=None,
+    model=None,
+    camera_hz=30,
     show_viewer_ui=True,
-    stop_mujoco_process_event=event, 
+    stop_mujoco_process_event=event,
     data_proxies=data_proxies,
-    cameras_to_use=[]
+    cameras_to_use=[],
 )

examples/test_one_process_passive.py

@@ -1,6 +1,6 @@
-from multiprocessing import Manager
 import signal
 import threading
+from multiprocessing import Manager
 
 from stretch_mujoco.mujoco_server import MujocoServerProxies
 from stretch_mujoco.mujoco_server_passive import MujocoServerPassive
@@ -13,11 +13,11 @@
 signal.signal(signal.SIGINT, lambda num, frame: event.set())
 
 MujocoServerPassive.launch_server(
-    scene_xml_path=None, 
-    model=None, 
-    camera_hz=30, 
+    scene_xml_path=None,
+    model=None,
+    camera_hz=30,
     show_viewer_ui=True,
-    stop_mujoco_process_event=event, 
+    stop_mujoco_process_event=event,
     data_proxies=data_proxies,
-    cameras_to_use=[]
-    )
+    cameras_to_use=[],
+)

launch_sim.py

@@ -1,21 +1,17 @@
-import stretch_mujoco
 import click
 import cv2
 
+import stretch_mujoco
 from stretch_mujoco.enums.stretch_cameras import StretchCameras
 
 
 @click.command()
 @click.option("--scene-xml-path", help="Path to a scene xml file")
 @click.option("--headless", is_flag=True, help="Run the simulation headless")
 @click.option("--imagery", is_flag=True, help="Show the cameras' imagery")
-def main(
-    scene_xml_path: str,
-    headless: bool,
-    imagery: bool
-) -> None:
+def main(scene_xml_path: str, headless: bool, imagery: bool) -> None:
     cameras_to_use = StretchCameras.all() if imagery else []
-    sim = stretch_mujoco.StretchMujocoSimulator(scene_xml_path,cameras_to_use=cameras_to_use)
+    sim = stretch_mujoco.StretchMujocoSimulator(scene_xml_path, cameras_to_use=cameras_to_use)
     sim.start(headless=headless)
     try:
         while sim.is_running():

stretch_mujoco/datamodels/status_command.py

@@ -44,12 +44,12 @@ class StatusCommand:
 
     move_to: dict[str, CommandMove] = field(default_factory=dict)
     move_by: dict[str, CommandMove] = field(default_factory=dict)
-    base_velocity: CommandBaseVelocity = field(default_factory=lambda:CommandBaseVelocity(0, 0, False))
-    keyframe: CommandKeyframe = field(default_factory=lambda:CommandKeyframe("", False))
+    base_velocity: CommandBaseVelocity = field(
+        default_factory=lambda: CommandBaseVelocity(0, 0, False)
+    )
+    keyframe: CommandKeyframe = field(default_factory=lambda: CommandKeyframe("", False))
     coordinate_frame_arrows_viz: list[CommandCoordinateFrameArrowsViz] = field(default_factory=list)
 
-
-
     def set_move_to(self, command: CommandMove):
         """Sends a move_to command and removes the move_by command."""
         self.move_to[command.actuator_name] = command