style: fix types

Author: juelg

extensions/rcs_fr3/src/rcs_fr3/__init__.py

@@ -1,6 +1,8 @@
 from rcs_fr3 import desk, envs
+from rcs_fr3._core import hw
 
 __all__ = [
     "desk",
     "envs",
+    "hw",
 ]

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -20,6 +20,7 @@
 from rcs.hand.tilburg_hand import TilburgHand
 from rcs_fr3.envs import FR3HW
 from rcs_fr3.utils import default_fr3_hw_gripper_cfg, default_fr3_hw_robot_cfg
+from rcs_fr3 import hw
 
 import rcs
 
@@ -32,9 +33,9 @@ def __call__(  # type: ignore
         self,
         ip: str,
         control_mode: ControlMode,
-        robot_cfg: rcs.hw.FR3Config,
+        robot_cfg: hw.FR3Config,
         collision_guard: str | PathLike | None = None,
-        gripper_cfg: rcs.hw.FHConfig | rcs.hand.tilburg_hand.THConfig | None = None,
+        gripper_cfg: hw.FHConfig | rcs.hand.tilburg_hand.THConfig | None = None,
         camera_set: HardwareCameraSet | None = None,
         max_relative_movement: float | tuple[float, float] | None = None,
         relative_to: RelativeTo = RelativeTo.LAST_STEP,
@@ -65,14 +66,14 @@ def __call__(  # type: ignore
         if urdf_path is None:
             urdf_path = rcs.scenes["fr3_empty_world"]["urdf"]
         ik = rcs.common.IK(str(urdf_path)) if urdf_path is not None else None
-        robot = rcs.hw.FR3(ip, ik)
+        robot = hw.FR3(ip, ik)
         robot.set_parameters(robot_cfg)
 
         env: gym.Env = RobotEnv(robot, ControlMode.JOINTS if collision_guard is not None else control_mode)
 
         env = FR3HW(env)
-        if isinstance(gripper_cfg, rcs.hw.FHConfig):
-            gripper = rcs.hw.FrankaHand(ip, gripper_cfg)
+        if isinstance(gripper_cfg, hw.FHConfig):
+            gripper = hw.FrankaHand(ip, gripper_cfg)
             env = GripperWrapper(env, gripper, binary=True)
         elif isinstance(gripper_cfg, rcs.hand.tilburg_hand.THConfig):
             hand = TilburgHand(gripper_cfg)
@@ -107,8 +108,8 @@ class RCSFR3MultiEnvCreator(RCSHardwareEnvCreator):
     def __call__(  # type: ignore
         ips: list[str],
         control_mode: ControlMode,
-        robot_cfg: rcs.hw.FR3Config,
-        gripper_cfg: rcs.hw.FHConfig | None = None,
+        robot_cfg: hw.FR3Config,
+        gripper_cfg: hw.FHConfig | None = None,
         camera_set: HardwareCameraSet | None = None,
         max_relative_movement: float | tuple[float, float] | None = None,
         relative_to: RelativeTo = RelativeTo.LAST_STEP,
@@ -117,17 +118,17 @@ def __call__(  # type: ignore
 
         urdf_path = rcs.scenes["fr3_empty_world"]["urdf"]
         ik = rcs.common.IK(str(urdf_path)) if urdf_path is not None else None
-        robots: dict[str, rcs.hw.FR3] = {}
+        robots: dict[str, hw.FR3] = {}
         for ip in ips:
-            robots[ip] = rcs.hw.FR3(ip, ik)
+            robots[ip] = hw.FR3(ip, ik)
             robots[ip].set_parameters(robot_cfg)
 
         envs = {}
         for ip in ips:
             env: gym.Env = RobotEnv(robots[ip], control_mode)
             env = FR3HW(env)
             if gripper_cfg is not None:
-                gripper = rcs.hw.FrankaHand(ip, gripper_cfg)
+                gripper = hw.FrankaHand(ip, gripper_cfg)
                 env = GripperWrapper(env, gripper, binary=True)
 
             if max_relative_movement is not None:

extensions/rcs_fr3/src/rcs_fr3/desk.py

@@ -13,10 +13,10 @@
 import requests
 from dotenv import load_dotenv
 from rcs_fr3.utils import default_fr3_hw_gripper_cfg
+import rcs_fr3
 from requests.packages import urllib3  # type: ignore[attr-defined]
 from websockets.sync.client import connect
 
-import rcs
 
 _logger = logging.getLogger("desk")
 
@@ -38,13 +38,13 @@ def load_creds_fr3_desk() -> tuple[str, str]:
 
 def home(ip: str, username: str, password: str, shut: bool, unlock: bool = False):
     with Desk.fci(ip, username, password, unlock=unlock):
-        f = rcs.hw.FR3(ip)
-        config = rcs.hw.FR3Config()
+        f = rcs_fr3.hw.FR3(ip)
+        config = rcs_fr3.hw.FR3Config()
         config.speed_factor = 0.2
-        config.ik_solver = rcs.hw.IKSolver.franka_ik
+        config.ik_solver = rcs_fr3.hw.IKSolver.franka_ik
         f.set_parameters(config)
-        config_hand = rcs.hw.FHConfig()
-        g = rcs.hw.FrankaHand(ip, config_hand)
+        config_hand = rcs_fr3.hw.FHConfig()
+        g = rcs_fr3.hw.FrankaHand(ip, config_hand)
         if shut:
             g.shut()
         else:
@@ -54,8 +54,8 @@ def home(ip: str, username: str, password: str, shut: bool, unlock: bool = False
 
 def info(ip: str, username: str, password: str, include_hand: bool = False):
     with Desk.fci(ip, username, password):
-        f = rcs.hw.FR3(ip)
-        config = rcs.hw.FR3Config()
+        f = rcs_fr3.hw.FR3(ip)
+        config = rcs_fr3.hw.FR3Config()
         f.set_parameters(config)
         print("Robot info:")
         print("Current cartesian position:")
@@ -64,7 +64,7 @@ def info(ip: str, username: str, password: str, include_hand: bool = False):
         print(f.get_joint_position())
         if include_hand:
             config_hand = default_fr3_hw_gripper_cfg()
-            g = rcs.hw.FrankaHand(ip, config_hand)
+            g = rcs_fr3.hw.FrankaHand(ip, config_hand)
             print("Gripper info:")
             print("Current normalized width:")
             print(g.get_normalized_width())

python/examples/fr3.py

@@ -6,6 +6,7 @@
 from rcs._core.sim import CameraType
 from rcs.camera.sim import SimCameraConfig, SimCameraSet
 from rcs_fr3.desk import FCI, ContextManager, Desk, load_creds_fr3_desk
+from rcs_fr3._core import hw
 
 import rcs
 from rcs import sim
@@ -94,17 +95,17 @@ def main():
         else:
             urdf_path = rcs.scenes["fr3_empty_world"]["urdf"]
             ik = rcs.common.IK(str(urdf_path))
-            robot = rcs.hw.FR3(ROBOT_IP, ik)
+            robot = hw.FR3(ROBOT_IP, ik)
             robot_cfg = FR3Config()
             robot_cfg.tcp_offset = rcs.common.Pose(rcs.common.FrankaHandTCPOffset())
             robot_cfg.ik_solver = IKSolver.rcs_ik
-            robot.set_parameters(robot_cfg)
+            robot.set_parameters(robot_cfg)  # type: ignore
 
-            gripper_cfg_hw = rcs.hw.FHConfig()
+            gripper_cfg_hw = hw.FHConfig()
             gripper_cfg_hw.epsilon_inner = gripper_cfg_hw.epsilon_outer = 0.1
             gripper_cfg_hw.speed = 0.1
             gripper_cfg_hw.force = 30
-            gripper = rcs.hw.FrankaHand(ROBOT_IP, gripper_cfg_hw)
+            gripper = hw.FrankaHand(ROBOT_IP, gripper_cfg_hw)
             input("the robot is going to move, press enter whenever you are ready")
 
         # move to home position and open gripper