style: fix format

Author: juelg

extensions/rcs_realsense/src/rcs_realsense/calibration.py

@@ -6,7 +6,6 @@
 import apriltag
 import cv2
 import numpy as np
-from PIL import Image, ImageDraw
 from rcs._core import common
 from rcs.camera.hw import CalibrationStrategy
 from rcs.camera.interface import Frame
@@ -131,7 +130,8 @@ def get_marker_pose(calib_tag_id, detector, intrinsics, frame):
         marker_det = det
 
     if n_det > 1:
-        raise ValueError("Expected 1 detection of tag id " f"{calib_tag_id}, got {n_det}.")
+        msg = f"Expected 1 detection of tag id {calib_tag_id}, got {n_det}."
+        raise ValueError(msg)
 
     if marker_det is None:
         return None, None

python/rcs/camera/hw.py

@@ -4,7 +4,6 @@
 from collections.abc import Sequence
 from datetime import datetime
 from pathlib import Path
-from queue import Queue
 from time import sleep
 
 import cv2

python/rcs/camera/sim.py

@@ -80,9 +80,7 @@ def _cpp_to_python_frames(self, cpp_frameset: _FrameSet | None) -> FrameSet | No
                     extrinsics=self._extrinsics(color_name),
                 ),
                 depth=DataFrame(
-                    data= (depth_np_frame * BaseCameraSet.DEPTH_SCALE).astype(
-                        np.uint16
-                    ),
+                    data=(depth_np_frame * BaseCameraSet.DEPTH_SCALE).astype(np.uint16),
                     timestamp=cpp_frameset.timestamp,
                     intrinsics=self._intrinsics(depth_name),
                     extrinsics=self._extrinsics(depth_name),

src/sim/camera.cpp

@@ -87,19 +87,19 @@ void SimCameraSet::render_all() {
   for (auto const& [id, cam] : this->cameras_cfg) {
     mjrContext* ctx = this->sim->renderer.get_context(id);
     this->render_single(id, *ctx, this->sim->renderer.scene,
-                         this->sim->renderer.opt);
+                        this->sim->renderer.opt);
   }
 }
 
 void SimCameraSet::frame_callback(const std::string& id, mjrContext& ctx,
                                   mjvScene& scene, mjvOption& opt) {
-  if (!this->render_on_demand){
-  this->render_single(id, ctx, scene, opt);
+  if (!this->render_on_demand) {
+    this->render_single(id, ctx, scene, opt);
   }
 }
 
 void SimCameraSet::render_single(const std::string& id, mjrContext& ctx,
-                                  mjvScene& scene, mjvOption& opt) {
+                                 mjvScene& scene, mjvOption& opt) {
   mjrRect viewport = mjr_maxViewport(&ctx);
   int W = viewport.width;
   int H = viewport.height;

src/sim/sim.cpp

@@ -26,7 +26,7 @@ bool get_last_return_value(ConditionCallback cb) {
   return cb.last_return_value;
 }
 
-Sim::Sim(mjModel* m, mjData* d) : m(m), d(d), renderer(m){};
+Sim::Sim(mjModel* m, mjData* d) : m(m), d(d), renderer(m) {};
 
 bool Sim::set_config(const Config& cfg) {
   if (cfg.async) {