format: pylint

Author: tenfoldpaper

examples/simple_tilburg_test.py

@@ -73,12 +73,12 @@ def pad_qpos(q: np.ndarray):
     print("power_grasp_radians=[", ", ".join(f"{rad:.2f}" for rad in rads), "]")
     print("min_joints_radians=[", ", ".join(f"{rad:.2f}" for rad in min_joints_radians), "]")
     print("max_joints_radians=[", ", ".join(f"{rad:.2f}" for rad in max_joints_radians), "]")
-    config = THConfig(
+    hand_cfg = THConfig(
         calibration_file="/home/sbien/Documents/Development/RCS/robot-control-stack/python/rcs/hand/calibration_og.json",
         grasp_percentage=1,
         hand_orientation="right",
     )
-    hand = TilburgHand(cfg=config, verbose=True)
+    hand = TilburgHand(cfg=hand_cfg, verbose=True)
     hand.set_grasp_type(GraspType.POWER_GRASP)
     hand.grasp()
     sleep(2)

examples/tilburg_grasp.py

@@ -53,18 +53,7 @@
 
 def main():
 
-    if ROBOT_INSTANCE == RobotPlatform.HARDWARE:
-        # env_rel = RCSFR3EnvCreator()(
-        #     ip=ROBOT_IP,
-        #     control_mode=ControlMode.JOINTS,
-        #     robot_cfg=default_fr3_hw_robot_cfg(),
-        #     collision_guard=None,
-        #     gripper_cfg=default_fr3_hw_gripper_cfg(),
-        #     max_relative_movement=np.deg2rad(5),
-        #     relative_to=RelativeTo.LAST_STEP,
-        # )
-        return
-    else:
+    if ROBOT_INSTANCE == RobotPlatform.SIMULATION:
         env_rel = SimEnvCreator()(
             control_mode=ControlMode.JOINTS,
             collision_guard=False,
@@ -77,15 +66,15 @@ def main():
         )
         env_rel.get_wrapper_attr("sim").open_gui()
 
-    for _ in range(10):
-        obs, info = env_rel.reset()
         for _ in range(10):
-            # sample random relative action and execute it
-            act = env_rel.action_space.sample()
-            obs, reward, terminated, truncated, info = env_rel.step(act)
-            if truncated or terminated:
-                logger.info("Truncated or terminated!")
-                return
+            obs, info = env_rel.reset()
+            for _ in range(10):
+                # sample random relative action and execute it
+                act = env_rel.action_space.sample()
+                obs, reward, terminated, truncated, info = env_rel.step(act)
+                if truncated or terminated:
+                    logger.info("Truncated or terminated!")
+                    return
 
 
 if __name__ == "__main__":

python/rcs/envs/utils.py

@@ -40,8 +40,7 @@ def default_sim_gripper_cfg(idx: str = "0") -> sim.SimGripperConfig:
 
 
 def default_sim_tilburg_hand_cfg() -> sim.SimTilburgHandConfig:
-    cfg = sim.SimTilburgHandConfig()
-    return cfg
+    return sim.SimTilburgHandConfig()
 
 
 def default_digit(name2id: dict[str, str] | None, stream_name: str = "QVGA") -> DigitCam | None:

python/rcs/hand/tilburg_hand.py

@@ -1,5 +1,4 @@
 import copy
-import enum
 import logging
 from dataclasses import dataclass
 from time import sleep
@@ -29,6 +28,13 @@ def __post_init__(self):
         # 👇 satisfy pybind11 by actually calling the C++ constructor
         super().__init__()
 
+@dataclass
+class TilburgHandState(common.HandState):
+    joint_positions: Vec18Type
+
+    def __post_init__(self):
+        super().__init__()
+
 
 class TilburgHand(common.Hand):
     """
@@ -190,7 +196,8 @@ def set_grasp_type(self, grasp_type: common.GraspType):
         Sets the grasp type for the hand.
         """
         if not isinstance(grasp_type, common.GraspType):
-            raise ValueError(f"Invalid grasp type: {grasp_type}. Must be an instance of common.GraspType.")
+            error_msg = f"Invalid grasp type: {grasp_type}. Must be an instance of common.GraspType."
+            raise ValueError(error_msg)
         if grasp_type == common.GraspType.POWER_GRASP:
             self._cfg.grasp_type = common.GraspType.POWER_GRASP
         elif grasp_type == common.GraspType.PRECISION_GRASP:
@@ -203,7 +210,8 @@ def set_grasp_type(self, grasp_type: common.GraspType):
             logger.warning("Tripod grasp is not implemented yet. Defaulting to power grasp.")
             self._cfg.grasp_type = common.GraspType.POWER_GRASP
         else:
-            raise ValueError(f"Unknown grasp type: {grasp_type}.")
+            error_msg = f"Unknown grasp type: {grasp_type}."
+            raise ValueError(error_msg)
 
         logger.info(f"Grasp type set to: {self._cfg.grasp_type}")
 
@@ -226,11 +234,11 @@ def reset(self):
         self.set_zero_pos()
         logger.info("Hand reset to initial state.")
 
-    def get_state(self) -> np.ndarray:
+    def get_state(self) -> TilburgHandState:
         """
         Returns the current state of the hand.
         """
-        return self.get_pos_vector()
+        return TilburgHandState(joint_positions=self.get_pos_vector())
 
     def close(self):
         """