Merge pull request #166 from open-dynamic-robot-initiative/fkloss/lin…

…e_length

Change Python line length to 88 (black default)

.flake8

@@ -1,3 +1,3 @@
 [flake8]
-max-line-length=79
+max-line-length=88
 ignore=E203,W503

.github/workflows/build_master.yml

@@ -15,6 +15,7 @@ on:
   push:
     branches:
      - master
+  workflow_dispatch:
 
 jobs:
   build_and_test:

demos/demo_data_logging.py

@@ -24,9 +24,7 @@ def main():
 
     # run the robot for a while
     for _ in range(10000):
-        t = finger_frontend.append_desired_action(
-            finger.Action(torque=desired_torque)
-        )
+        t = finger_frontend.append_desired_action(finger.Action(torque=desired_torque))
         finger_frontend.wait_until_timeindex(t)
 
     # stop logger and write data to file

demos/demo_simulation_driver.py

@@ -46,14 +46,10 @@ def main():
     num_fingers = finger_types_data.get_number_of_fingers(args.finger_type)
     if num_fingers == 1:
         finger_types = robot_interfaces.finger
-        create_backend = (
-            robot_fingers.pybullet_drivers.create_single_finger_backend
-        )
+        create_backend = robot_fingers.pybullet_drivers.create_single_finger_backend
     elif num_fingers == 3:
         finger_types = robot_interfaces.trifinger
-        create_backend = (
-            robot_fingers.pybullet_drivers.create_trifinger_backend
-        )
+        create_backend = robot_fingers.pybullet_drivers.create_trifinger_backend
 
     robot_data = finger_types.SingleProcessData()
 

demos/demo_simulation_object_tracker.py

@@ -51,9 +51,7 @@ def main():
     cube = collision_objects.Block()
 
     # initialize the object tracker interface
-    object_tracker_data = object_tracker.Data(
-        "object_tracker", True, args.history_size
-    )
+    object_tracker_data = object_tracker.Data("object_tracker", True, args.history_size)
     object_tracker_backend = object_tracker.SimulationBackend(
         object_tracker_data, cube, real_time
     )

demos/demo_solo_eight.py

@@ -49,9 +49,7 @@ def main():
     if args.multi_process:
         # In multi-process case assume that the backend is running in a
         # separate process and only set up the frontend here.
-        robot_data = robot_interfaces.solo_eight.MultiProcessData(
-            "solo8", False
-        )
+        robot_data = robot_interfaces.solo_eight.MultiProcessData("solo8", False)
         frontend = robot_interfaces.solo_eight.Frontend(robot_data)
     else:
         # In single-process case run both frontend and backend in this process

demos/demo_trifinger.py

@@ -80,9 +80,7 @@ def main():
     if args.multi_process:
         # In multi-process case assume that the backend is running in a
         # separate process and only set up the frontend here.
-        robot_data = robot_interfaces.trifinger.MultiProcessData(
-            "trifinger", False
-        )
+        robot_data = robot_interfaces.trifinger.MultiProcessData("trifinger", False)
         frontend = robot_interfaces.trifinger.Frontend(robot_data)
     else:
         # In single-process case run both frontend and backend in this process

demos/demo_trifinger_platform.py

@@ -64,9 +64,7 @@ def main() -> None:  # noqa[D103]
 
         if t % 100 == 0:
             print(f"[{t}] target joint positions: {action.position}")
-            print(
-                f"[{t}] actual joint positions: {robot_observation.position}"
-            )
+            print(f"[{t}] actual joint positions: {robot_observation.position}")
 
             image = camera_observation.cameras[0].image
             print(f"[{t}] Image shape: {image.shape}")

demos/demo_trifingeredu.py

@@ -52,9 +52,7 @@ def main():
     if args.multi_process:
         # In multi-process case assume that the backend is running in a
         # separate process and only set up the frontend here.
-        robot_data = robot_interfaces.trifinger.MultiProcessData(
-            "trifinger", False
-        )
+        robot_data = robot_interfaces.trifinger.MultiProcessData("trifinger", False)
         frontend = robot_interfaces.trifinger.Frontend(robot_data)
     else:
         # In single-process case run both frontend and backend in this process

demos/demo_trifingerpro.py

@@ -56,9 +56,7 @@ def main():
     if args.multi_process:
         # In multi-process case assume that the backend is running in a
         # separate process and only set up the frontend here.
-        robot_data = robot_interfaces.trifinger.MultiProcessData(
-            "trifinger", False
-        )
+        robot_data = robot_interfaces.trifinger.MultiProcessData("trifinger", False)
         frontend = robot_interfaces.trifinger.Frontend(robot_data)
     else:
         # In single-process case run both frontend and backend in this process

demos/demo_trifingerpro_kinematics.py

@@ -24,12 +24,8 @@
 
 def init_kinematics():
     """Initialise the kinematics calculator for TriFingerPro."""
-    robot_properties_path = get_package_share_directory(
-        "robot_properties_fingers"
-    )
-    urdf_file = trifinger_simulation.finger_types_data.get_finger_urdf(
-        "trifingerpro"
-    )
+    robot_properties_path = get_package_share_directory("robot_properties_fingers")
+    urdf_file = trifinger_simulation.finger_types_data.get_finger_urdf("trifingerpro")
     finger_urdf_path = os.path.join(robot_properties_path, "urdf", urdf_file)
     kinematics = trifinger_simulation.pinocchio_utils.Kinematics(
         finger_urdf_path,
@@ -53,9 +49,7 @@ def main():
         robot.initialize()
         frontend = robot.frontend
     else:
-        robot_data = robot_interfaces.trifinger.MultiProcessData(
-            "trifinger", False
-        )
+        robot_data = robot_interfaces.trifinger.MultiProcessData("trifinger", False)
         frontend = robot_interfaces.trifinger.Frontend(robot_data)
 
     kinematics = init_kinematics()
@@ -87,9 +81,7 @@ def main():
         # update desired tip positions
         for i in range(len(initial_cartesian_tip_positions)):
             dy = distance * np.sin(t * np.pi / n_steps)
-            cartesian_tip_positions[i][1] = (
-                initial_cartesian_tip_positions[i][1] + dy
-            )
+            cartesian_tip_positions[i][1] = initial_cartesian_tip_positions[i][1] + dy
 
         # use inverse kinematics to get the corresponding joint angles
         angular_joint_positions, err = kinematics.inverse_kinematics(

pyproject.toml

@@ -1,9 +1,3 @@
-[tool.black]
-line-length = 79
-
-[tool.ruff]
-line-length = 79
-
 [tool.pylint.messages_control]
 disable = "C0330, C0326"
 

robot_fingers/robot.py

@@ -98,9 +98,7 @@ def create_by_name(cls, robot_name: str, logger_buffer_size: int = 0):
         Returns:
             Robot: A ``Robot`` instance for the specified robot.
         """
-        return cls(
-            *robot_configs[robot_name], logger_buffer_size=logger_buffer_size
-        )
+        return cls(*robot_configs[robot_name], logger_buffer_size=logger_buffer_size)
 
     @staticmethod
     def get_supported_robots():

robot_fingers/utils.py

@@ -27,8 +27,6 @@ def update(self):
             time_str = time.strftime("%F %H:%M")
             duration_h = round((now - self.start_time) / 3600)
             print(
-                "{} ({} h since {})".format(
-                    time_str, duration_h, self.start_time_str
-                )
+                "{} ({} h since {})".format(time_str, duration_h, self.start_time_str)
             )
             self._last_time_print = now

scripts/check_finger_position_control_error.py

@@ -61,8 +61,6 @@ def forward_kinematics(joint_positions):
             robot.frontend.wait_until_timeindex(t)
 
         desired_tip_pos = forward_kinematics(desired_position)
-        actual_tip_pos = forward_kinematics(
-            robot.frontend.get_observation(t).position
-        )
+        actual_tip_pos = forward_kinematics(robot.frontend.get_observation(t).position)
         error = desired_tip_pos - actual_tip_pos
         print("Position Error: {:.3}  {}".format(np.linalg.norm(error), error))

scripts/claw_crane.py

@@ -17,16 +17,10 @@
 
 def loop(win, args):
     title = "Claw Crane"
-    status_line = (
-        " q: quit | a/d: x-axis | w/s: y-axis | r/f: z-axis | q/e: open/close"
-    )
+    status_line = " q: quit | a/d: x-axis | w/s: y-axis | r/f: z-axis | q/e: open/close"
 
-    robot_properties_path = get_package_share_directory(
-        "robot_properties_fingers"
-    )
-    urdf_file = trifinger_simulation.finger_types_data.get_finger_urdf(
-        "trifingerpro"
-    )
+    robot_properties_path = get_package_share_directory("robot_properties_fingers")
+    urdf_file = trifinger_simulation.finger_types_data.get_finger_urdf("trifingerpro")
     finger_urdf_path = os.path.join(robot_properties_path, "urdf", urdf_file)
     kinematics = trifinger_simulation.pinocchio_utils.Kinematics(
         finger_urdf_path,
@@ -53,9 +47,7 @@ def loop(win, args):
     try:
         while True:
             steps = 200
-            joint_pos_step_size = (
-                target_joint_pos - current_joint_pos
-            ) / steps
+            joint_pos_step_size = (target_joint_pos - current_joint_pos) / steps
 
             for _ in range(50):
                 current_joint_pos += joint_pos_step_size
@@ -65,9 +57,7 @@ def loop(win, args):
 
             gui.update_screen(
                 [
-                    "Center: ({:.3f}, {:.3f}, {:.3f})".format(
-                        *center_position
-                    ),
+                    "Center: ({:.3f}, {:.3f}, {:.3f})".format(*center_position),
                     "Tips to Center: {:.3f}".format(dist_tips_to_center),
                     "",
                 ]

scripts/construct_object_reset_trajectory.py

@@ -299,14 +299,10 @@ def main():
     swipes_120 = connect_swipes(initial_pos_120, swipes_120, jump_speed_mps)
     swipes_240 = connect_swipes(initial_pos_240, swipes_240, jump_speed_mps)
 
-    joint_trajectory = trajectory_ik(
-        swipes_0, swipes_120, swipes_240, args.visualize
-    )
+    joint_trajectory = trajectory_ik(swipes_0, swipes_120, swipes_240, args.visualize)
 
     header = ["observation_position_%d" % i for i in range(9)]
-    np.savetxt(
-        args.out_file, joint_trajectory, header=" ".join(header), comments=""
-    )
+    np.savetxt(args.out_file, joint_trajectory, header=" ".join(header), comments="")
 
 
 if __name__ == "__main__":

scripts/demonstrate_trajectory.py

@@ -103,9 +103,7 @@ def loop(win, args):
                 return
             elif pressed_key == ord(" "):
                 if is_recording:
-                    robot.logger.stop_and_save(
-                        args.outfile, robot.logger.Format.CSV
-                    )
+                    robot.logger.stop_and_save(args.outfile, robot.logger.Format.CSV)
                 else:
                     robot.logger.start()
 
@@ -122,9 +120,7 @@ def main():
         choices=robot_fingers.Robot.get_supported_robots(),
         help="Name of the robot.",
     )
-    parser.add_argument(
-        "outfile", type=str, help="Output file for the recorded data."
-    )
+    parser.add_argument("outfile", type=str, help="Output file for the recorded data.")
     args = parser.parse_args()
 
     curses.wrapper(lambda stdscr: loop(stdscr, args))

scripts/evaluate_log.py

@@ -14,9 +14,7 @@
 def compute_reward_move_cube(task, log, t, goal):
     camera_observation = log.get_camera_observation(t)
     cube_pose = camera_observation.filtered_object_pose
-    reward = -task.evaluate_state(
-        goal["goal"], cube_pose, int(goal["difficulty"])
-    )
+    reward = -task.evaluate_state(goal["goal"], cube_pose, int(goal["difficulty"]))
     return reward
 
 
@@ -27,18 +25,15 @@ def compute_reward_move_cube_on_trajectory(task, log, t, goal):
     return reward
 
 
-def compute_reward_rearrange_dice(
-    task, log, t, goal, goal_masks, reward_cache
-):
+def compute_reward_rearrange_dice(task, log, t, goal, goal_masks, reward_cache):
     camera_observation = log.get_camera_observation(t)
     # use timestamp of the first camera to identify the observation
     stamp = camera_observation.cameras[0].timestamp
 
     # only compute the reward if it is not yet in the cache
     if stamp not in reward_cache:
         masks = tuple(
-            segment_image(convert_image(c.image))
-            for c in camera_observation.cameras
+            segment_image(convert_image(c.image)) for c in camera_observation.cameras
         )
         reward_cache[stamp] = -task.evaluate_state(goal_masks, masks)
 
@@ -111,9 +106,7 @@ def main():
         camera_log = str(args.log_dir / "camera_data.dat")
 
         if args.task in ("move_cube", "move_cube_on_trajectory"):
-            log = robot_fingers.TriFingerPlatformWithObjectLog(
-                robot_log, camera_log
-            )
+            log = robot_fingers.TriFingerPlatformWithObjectLog(robot_log, camera_log)
         else:
             log = robot_fingers.TriFingerPlatformLog(robot_log, camera_log)
     except Exception as e:

scripts/fingeredu_endurance_test.py

@@ -56,16 +56,11 @@ def main():
     )
 
     finger_data = robot_interfaces.finger.SingleProcessData()
-    backend = robot_fingers.create_real_finger_backend(
-        finger_data, config_file_path
-    )
+    backend = robot_fingers.create_real_finger_backend(finger_data, config_file_path)
     finger = robot_interfaces.finger.Frontend(finger_data)
     backend.initialize()
 
-    input(
-        "Verify that finger is pointing straight down."
-        "  Press Enter to continue."
-    )
+    input("Verify that finger is pointing straight down." "  Press Enter to continue.")
 
     demo_position_commands(finger)
 

scripts/fingerpro_endurance_test.py

@@ -184,9 +184,7 @@ def move_on_full_range(push_interval):
     config.soft_position_limits_upper = [np.inf] * n_joints
 
     robot_data = robot_interfaces.finger.SingleProcessData()
-    robot_backend = robot_fingers.create_real_finger_backend(
-        robot_data, config
-    )
+    robot_backend = robot_fingers.create_real_finger_backend(robot_data, config)
     robot_frontend = robot_interfaces.finger.Frontend(robot_data)
 
     robot_backend.initialize()

scripts/joint_friction_calibration.py

@@ -111,9 +111,7 @@ def run_application(stdscr, robot, velocity_radps, buffer_size):
 
             line += 2
             stdscr.addstr(line, 0, "Status:", curses.A_BOLD)
-            stdscr.addstr(
-                line, len("Status:") + 1, "RUNNING" if enabled else "STOPPED"
-            )
+            stdscr.addstr(line, len("Status:") + 1, "RUNNING" if enabled else "STOPPED")
 
             line += 2
             stdscr.addstr(line, 0, "Commanded Torque:", curses.A_BOLD)
@@ -140,16 +138,12 @@ def run_application(stdscr, robot, velocity_radps, buffer_size):
                 )
 
             line += 2
-            stdscr.addstr(
-                line, 0, "Velocity (actual / desired):", curses.A_BOLD
-            )
+            stdscr.addstr(line, 0, "Velocity (actual / desired):", curses.A_BOLD)
             for i, (p, d) in enumerate(
                 zip(velocity_buffer.mean(), desired_velocity_radps)
             ):
                 line += 1
-                stdscr.addstr(
-                    line, 4, "Joint {}: {:.3f} / {:3f}".format(i, p, d)
-                )
+                stdscr.addstr(line, 4, "Joint {}: {:.3f} / {:3f}".format(i, p, d))
 
             stdscr.refresh()
 

scripts/plot_post_submission_log.py

@@ -47,9 +47,7 @@ def read_file(filename):
 
 def main():
     parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument(
-        "logfiles", nargs="+", type=pathlib.Path, help="logfiles"
-    )
+    parser.add_argument("logfiles", nargs="+", type=pathlib.Path, help="logfiles")
     parser.add_argument(
         "--no-display",
         dest="use_display",
@@ -75,9 +73,7 @@ def main():
         position_displacement = [
             np.linalg.norm(s["position"]["mean"][:2]) for s in data
         ]
-        mean_confidence = [
-            s["confidence"]["object_mean_confidence"] for s in data
-        ]
+        mean_confidence = [s["confidence"]["object_mean_confidence"] for s in data]
         position_mean_error = [s["position"]["mean_error"] for s in data]
         orientation_mean_error = [s["orientation"]["mean_error"] for s in data]