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kscalelabs · Jan 15, 2025 · 99730f5 · 99730f5
1 parent 3a9d095
commit 99730f5
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Showing 3 changed files with 9 additions and 7 deletions.
diff --git a/kos_sim/services.py b/kos_sim/services.py
@@ -18,7 +18,7 @@ def __init__(self, simulator: MujocoSimulator, step_controller: StepController)
         self.simulator = simulator
         self.step_controller = step_controller
 
-    def Reset( # noqa: N802
+    def Reset(  # noqa: N802
         self, request: sim_pb2.ResetRequest, context: grpc.ServicerContext
     ) -> common_pb2.ActionResponse:  # noqa: N802
         """Reset the simulation to initial or specified state."""
@@ -38,7 +38,7 @@ def Reset( # noqa: N802
             context.set_details(str(e))
             return common_pb2.ActionResponse(success=False, error=str(e))
 
-    def SetPaused( # noqa: N802
+    def SetPaused(  # noqa: N802
         self, request: sim_pb2.SetPausedRequest, context: grpc.ServicerContext
     ) -> common_pb2.ActionResponse:  # noqa: N802
         """Pause or unpause the simulation."""
@@ -52,7 +52,7 @@ def SetPaused( # noqa: N802
             context.set_details(str(e))
             return common_pb2.ActionResponse(success=False, error=str(e))
 
-    def Step( # noqa: N802
+    def Step(  # noqa: N802
         self, request: sim_pb2.StepRequest, context: grpc.ServicerContext
     ) -> common_pb2.ActionResponse:  # noqa: N802
         """Step the simulation forward."""
@@ -102,7 +102,7 @@ def SetParameters(  # noqa: N802
             context.set_details(str(e))
             return common_pb2.ActionResponse(success=False, error=str(e))
 
-    def GetParameters( # noqa: N802
+    def GetParameters(  # noqa: N802
         self, request: empty_pb2.Empty, context: grpc.ServicerContext
     ) -> sim_pb2.GetParametersResponse:
         """Get current simulation parameters."""

diff --git a/kos_sim/test_client.py b/kos_sim/test_client.py
@@ -16,8 +16,8 @@ def test_sim_commands(host: str = "localhost", port: int = 50051) -> None:
 
     # Test parameters
     frequency = 1.0  # Hz
-    amplitude = 45.0  # degrees
-    duration = 5.0  # seconds
+    _amplitude = 45.0  # degrees
+    _duration = 5.0  # seconds
 
     # Send command
     sim.set_parameters(time_scale=frequency)

diff --git a/kos_sim/test_viewer.py b/kos_sim/test_viewer.py
@@ -1,7 +1,9 @@
+"""Test script for the viewer."""
+
 import mujoco
 import mujoco_viewer
 
-model = mujoco.MjModel.from_xml_path('models/gpr/robot_fixed.xml')
+model = mujoco.MjModel.from_xml_path("models/gpr/robot_fixed.xml")
 data = mujoco.MjData(model)
 
 # create the viewer object