style: cpp and py format

Author: juelg

extensions/rcs_fr3/src/hw/Franka.cpp

@@ -20,8 +20,8 @@
 namespace rcs {
 namespace hw {
 Franka::Franka(const std::string &ip,
-         std::optional<std::shared_ptr<common::Kinematics>> ik,
-         const std::optional<FrankaConfig> &cfg)
+               std::optional<std::shared_ptr<common::Kinematics>> ik,
+               const std::optional<FrankaConfig> &cfg)
     : robot(ip), m_ik(ik) {
   // set collision behavior and impedance
   this->set_default_robot_behavior();
@@ -123,7 +123,7 @@ common::VectorXd Franka::get_joint_position() {
 }
 
 void Franka::set_guiding_mode(bool x, bool y, bool z, bool roll, bool pitch,
-                           bool yaw, bool elbow) {
+                              bool yaw, bool elbow) {
   std::array<bool, 6> activated = {x, y, z, roll, pitch, yaw};
   this->robot.setGuidingMode(activated, elbow);
 }
@@ -586,7 +586,9 @@ void Franka::move_home() {
   this->robot.control(motion_generator);
 }
 
-void Franka::automatic_error_recovery() { this->robot.automaticErrorRecovery(); }
+void Franka::automatic_error_recovery() {
+  this->robot.automaticErrorRecovery();
+}
 
 void Franka::reset() {
   this->stop_control_thread();
@@ -707,9 +709,9 @@ common::Pose Franka::get_base_pose_in_world_coordinates() {
 }
 
 void Franka::set_cartesian_position_internal(const common::Pose &pose,
-                                          double max_time,
-                                          std::optional<double> elbow,
-                                          std::optional<double> max_force) {
+                                             double max_time,
+                                             std::optional<double> elbow,
+                                             std::optional<double> max_force) {
   // TODO: use speed factor instead of max_time
   common::Pose initial_pose = this->get_cartesian_position();
 

extensions/rcs_fr3/src/hw/Franka.h

@@ -49,7 +49,6 @@ struct PandaConfig : FrankaConfig {
   common::RobotType robot_type = common::RobotType::Panda;
 };
 
-
 struct FrankaState : common::RobotState {};
 
 class Franka : public common::Robot {
@@ -70,8 +69,8 @@ class Franka : public common::Robot {
 
  public:
   Franka(const std::string &ip,
-      std::optional<std::shared_ptr<common::Kinematics>> ik = std::nullopt,
-      const std::optional<FrankaConfig> &cfg = std::nullopt);
+         std::optional<std::shared_ptr<common::Kinematics>> ik = std::nullopt,
+         const std::optional<FrankaConfig> &cfg = std::nullopt);
   ~Franka() override;
 
   bool set_config(const FrankaConfig &cfg);

extensions/rcs_fr3/src/hw/FrankaMotionGenerator.cpp

@@ -24,7 +24,7 @@ void setDefaultBehavior(franka::Robot& robot) {
 }
 
 FrankaMotionGenerator::FrankaMotionGenerator(double speed_factor,
-                                       const common::Vector7d q_goal)
+                                             const common::Vector7d q_goal)
     : q_goal_(q_goal) {
   dq_max_ *= speed_factor;
   ddq_max_start_ *= speed_factor;

extensions/rcs_fr3/src/pybind/rcs.cpp

@@ -43,7 +43,8 @@ PYBIND11_MODULE(_core, m) {
 
   py::object robot_state =
       (py::object)py::module_::import("rcs").attr("common").attr("RobotState");
-  py::class_<rcs::hw::FrankaState>(hw, "FrankaState", robot_state).def(py::init<>());
+  py::class_<rcs::hw::FrankaState>(hw, "FrankaState", robot_state)
+      .def(py::init<>());
   py::class_<rcs::hw::FrankaLoad>(hw, "FrankaLoad")
       .def(py::init<>())
       .def_readwrite("load_mass", &rcs::hw::FrankaLoad::load_mass)
@@ -99,7 +100,8 @@ PYBIND11_MODULE(_core, m) {
 
   py::object robot =
       (py::object)py::module_::import("rcs").attr("common").attr("Robot");
-  py::class_<rcs::hw::Franka, std::shared_ptr<rcs::hw::Franka>>(hw, "Franka", robot)
+  py::class_<rcs::hw::Franka, std::shared_ptr<rcs::hw::Franka>>(hw, "Franka",
+                                                                robot)
       .def(py::init<const std::string &,
                     std::optional<std::shared_ptr<rcs::common::Kinematics>>>(),
            py::arg("ip"), py::arg("ik") = std::nullopt)
@@ -117,9 +119,11 @@ PYBIND11_MODULE(_core, m) {
            &rcs::hw::Franka::osc_set_cartesian_position,
            py::arg("desired_pos_EE_in_base_frame"))
       .def("controller_set_joint_position",
-           &rcs::hw::Franka::controller_set_joint_position, py::arg("desired_q"))
+           &rcs::hw::Franka::controller_set_joint_position,
+           py::arg("desired_q"))
       .def("stop_control_thread", &rcs::hw::Franka::stop_control_thread)
-      .def("automatic_error_recovery", &rcs::hw::Franka::automatic_error_recovery)
+      .def("automatic_error_recovery",
+           &rcs::hw::Franka::automatic_error_recovery)
       .def("double_tap_robot_to_continue",
            &rcs::hw::Franka::double_tap_robot_to_continue)
       .def("set_cartesian_position_internal",

extensions/rcs_fr3/src/rcs_fr3/desk.py

@@ -527,7 +527,11 @@ class FCI(ContextManager):
     """
 
     def __init__(
-        self, desk: Desk, unlock: bool = False, lock_when_done: bool = True, guiding_mode_when_done: bool = True
+        self,
+        desk: Desk,
+        unlock: bool = False,
+        lock_when_done: bool = True,
+        guiding_mode_when_done: bool = True,
     ):
         self.desk = desk
         self.unlock = unlock

python/rcs/_core/__init__.pyi

@@ -15,5 +15,5 @@ from __future__ import annotations
 
 from . import common, sim
 
-__all__ = ["common", "sim"]
+__all__: list[str] = ["common", "sim"]
 __version__: str = "0.5.2"

python/rcs/_core/common.pyi

@@ -9,7 +9,7 @@ import typing
 import numpy
 import pybind11_stubgen.typing_ext
 
-__all__ = [
+__all__: list[str] = [
     "BaseCameraConfig",
     "FR3",
     "FrankaHandTCPOffset",
@@ -134,9 +134,6 @@ class Kinematics:
         self, pose: Pose, q0: numpy.ndarray[tuple[M], numpy.dtype[numpy.float64]], tcp_offset: Pose = ...
     ) -> numpy.ndarray[tuple[M], numpy.dtype[numpy.float64]] | None: ...
 
-class Pin(Kinematics):
-    def __init__(self, path: str, frame_id: str = "fr3_link8", urdf: bool = True) -> None: ...
-
 class Pose:
     def __getstate__(self) -> typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(16)]: ...
     @typing.overload
@@ -316,6 +313,9 @@ class RobotType:
     @property
     def value(self) -> int: ...
 
+class Pin(Kinematics):
+    def __init__(self, path: str, frame_id: str = "fr3_link8", urdf: bool = True) -> None: ...
+
 def FrankaHandTCPOffset() -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]]: ...
 def IdentityRotMatrix() -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]: ...
 def IdentityRotQuatVec() -> numpy.ndarray[tuple[typing.Literal[4]], numpy.dtype[numpy.float64]]: ...

python/rcs/_core/sim.pyi

@@ -9,7 +9,7 @@ import typing
 import numpy
 import rcs._core.common
 
-__all__ = [
+__all__: list[str] = [
     "CameraType",
     "FrameSet",
     "GuiClient",

src/sim/test.cpp

@@ -147,7 +147,8 @@ int test_sim() {
             "robot should not be moving at the end of a step");
       }
       if (not state->is_arrived) {
-        throw std::runtime_error("robot should be arrived at the end of a step");
+        throw std::runtime_error(
+            "robot should be arrived at the end of a step");
       }
       /* According to fact sheet, pose repeatability within iso cube is 0.1
        * millimeters, i.e. 0.0001 meters.