ruff check auto fix

ruziniuuuuu · ruziniuuuuu · commit 906fafba4961 · 2025-07-29T16:34:42.000+08:00
diff --git a/src/physics_simulator/galbot_interface/basic_part.py b/src/physics_simulator/galbot_interface/basic_part.py
@@ -31,7 +31,6 @@
 from physics_simulator import PhysicsSimulator
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator.utils.data_types import JointTrajectory
-import numpy as np
 
 
 class BasicCamera:
diff --git a/src/physics_simulator/galbot_interface/chassis.py b/src/physics_simulator/galbot_interface/chassis.py
@@ -29,7 +29,6 @@
 
 from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicLimb
-from physics_simulator.utils.data_types import JointTrajectory
 from physics_simulator import PhysicsSimulator
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 
diff --git a/src/physics_simulator/galbot_interface/front_head_camera.py b/src/physics_simulator/galbot_interface/front_head_camera.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicCamera
 
 
diff --git a/src/physics_simulator/galbot_interface/head.py b/src/physics_simulator/galbot_interface/head.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicLimb
 
 
diff --git a/src/physics_simulator/galbot_interface/left_arm.py b/src/physics_simulator/galbot_interface/left_arm.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicLimb
 
 
diff --git a/src/physics_simulator/galbot_interface/left_gripper.py b/src/physics_simulator/galbot_interface/left_gripper.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicGripper
 
 
diff --git a/src/physics_simulator/galbot_interface/left_wrist_camera.py b/src/physics_simulator/galbot_interface/left_wrist_camera.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicCamera
 
 
diff --git a/src/physics_simulator/galbot_interface/leg.py b/src/physics_simulator/galbot_interface/leg.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicLimb
 
 
diff --git a/src/physics_simulator/galbot_interface/right_arm.py b/src/physics_simulator/galbot_interface/right_arm.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicLimb
 
 
diff --git a/src/physics_simulator/galbot_interface/right_gripper.py b/src/physics_simulator/galbot_interface/right_gripper.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicGripper
 
 
diff --git a/src/physics_simulator/galbot_interface/right_wrist_camera.py b/src/physics_simulator/galbot_interface/right_wrist_camera.py
@@ -29,8 +29,6 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List
 from physics_simulator.galbot_interface.basic_part import BasicCamera
 
 
diff --git a/src/physics_simulator/galbot_interface/robot.py b/src/physics_simulator/galbot_interface/robot.py
@@ -29,8 +29,7 @@
 
 from physics_simulator.galbot_interface.config import GalbotInterfaceConfig
 from physics_simulator import PhysicsSimulator
-from physics_simulator.utils.data_types import JointTrajectory
-from typing import List, Dict, Any
+from typing import Dict, Any
 
 
 class Robot:
diff --git a/src/physics_simulator/object/base.py b/src/physics_simulator/object/base.py
@@ -38,7 +38,6 @@
 from physics_simulator.utils import XMLError
 from physics_simulator.utils.mjcf_utils import (
     _element_filter,
-    add_material,
     add_prefix,
     find_elements,
     recolor_collision_geoms,
diff --git a/src/physics_simulator/object/factory.py b/src/physics_simulator/object/factory.py
@@ -27,8 +27,7 @@
 #
 #####################################################################################
 
-import numpy as np
-from typing import Union, Optional, List, Any
+from typing import Union, Any
 
 # Config
 from synthnova_config import (
diff --git a/src/physics_simulator/object/object.py b/src/physics_simulator/object/object.py
@@ -31,7 +31,6 @@
 #####################################################################################
 
 
-import copy
 import xml.etree.ElementTree as ET
 from copy import deepcopy
 
@@ -55,7 +54,6 @@
     new_site
 )
 
-from auro_utils.math.transform import wxyz_to_xyzw
 
 # Dict mapping geom type string keywords to group number
 GEOMTYPE2GROUP = {
diff --git a/src/physics_simulator/robot/mujoco_robot.py b/src/physics_simulator/robot/mujoco_robot.py
@@ -34,7 +34,6 @@
 # from physics_simulator import PhysicsSimulator
 import numpy as np
 from synthnova_config import RobotConfig
-from typing import Dict, List, Tuple, Optional
 from auro_utils import wxyz_to_xyzw
 
 class MujocoRobot(object):
diff --git a/src/physics_simulator/robot/robot_model.py b/src/physics_simulator/robot/robot_model.py
@@ -31,15 +31,14 @@
 
 
 import mujoco
-from auro_utils.math.transform import xyzw_to_wxyz, wxyz_to_xyzw
+from auro_utils.math.transform import xyzw_to_wxyz
 from physics_simulator.object import MujocoXMLModel
 # from physics_simulator.robot.gripper_model import GripperModel
 from physics_simulator.utils.mjcf_utils import (
     MOUNT_COLLISION_COLOR,
     array_to_string
 )
 import numpy as np
-from typing import Dict, List, Tuple, Optional
 
 
 class MujocoRobotModel(MujocoXMLModel):
diff --git a/src/physics_simulator/sensor/rgb_camera.py b/src/physics_simulator/sensor/rgb_camera.py
@@ -27,19 +27,13 @@
 #
 #####################################################################################
 
-from typing import TYPE_CHECKING
 
 from physics_simulator import PhysicsSimulator as GalbotEduSim
 from synthnova_config import RgbCameraConfig
 import numpy as np
 
-from auro_utils.math.transform import wxyz_to_xyzw
 from auro_utils.math.transform import xyzw_to_wxyz
 from auro_utils.math.transform import position_and_orientation_to_pose
-from auro_utils.math.transform import pose_to_position_and_orientation
-import auro_utils.manager as au
-from auro_utils import Logger
-import numpy as np
 import math
 from scipy.spatial.transform import Rotation as R
 
diff --git a/src/physics_simulator/sensor/sensor_model.py b/src/physics_simulator/sensor/sensor_model.py
@@ -30,14 +30,12 @@
 #####################################################################################
 
 
-import mujoco
 from auro_utils.math.transform import xyzw_to_wxyz
 from auro_utils.math.transform import wxyz_to_xyzw
 from physics_simulator.utils.mjcf_utils import (
     MOUNT_COLLISION_COLOR,
     array_to_string,
     find_elements,
-    find_parent,
     new_body,
     new_site,
 )
diff --git a/src/physics_simulator/simulator/base_sim.py b/src/physics_simulator/simulator/base_sim.py
@@ -27,7 +27,6 @@
 # Date: 2025-04-27
 #
 #####################################################################################
-import os
 from auro_utils import Logger
 from abc import ABC, abstractmethod
 from synthnova_config import (
diff --git a/src/physics_simulator/simulator/mj_context/egl_context.py b/src/physics_simulator/simulator/mj_context/egl_context.py
@@ -30,7 +30,6 @@
     )
 
 from mujoco.egl import egl_ext as EGL
-from OpenGL import error
 
 
 def create_initialized_egl_device_display(device_id=0):
diff --git a/src/physics_simulator/simulator/mj_context/osmesa_context.py b/src/physics_simulator/simulator/mj_context/osmesa_context.py
@@ -14,7 +14,6 @@
 # ==============================================================================
 """An OSMesa context for software-based OpenGL rendering."""
 
-import os
 
 from mujoco.osmesa import GLContext
 
diff --git a/src/physics_simulator/simulator/mj_wrapper/mj_data.py b/src/physics_simulator/simulator/mj_wrapper/mj_data.py
@@ -28,17 +28,9 @@
 #
 #####################################################################################
 
-from threading import Lock
-from tempfile import TemporaryDirectory
-from threading import Lock
 
 import mujoco
 import numpy as np
-import ctypes
-import ctypes.util
-import os
-import platform
-import subprocess
 
 
 class _MjDataMeta(type):
diff --git a/src/physics_simulator/simulator/mj_wrapper/mj_model.py b/src/physics_simulator/simulator/mj_wrapper/mj_model.py
@@ -28,17 +28,10 @@
 #
 #####################################################################################
 
-from threading import Lock
 from tempfile import TemporaryDirectory
-from threading import Lock
 
 import mujoco
-import numpy as np
-import ctypes
-import ctypes.util
 import os
-import platform
-import subprocess
 
 
 class _MjModelMeta(type):
diff --git a/src/physics_simulator/simulator/mj_wrapper/mj_renderer.py b/src/physics_simulator/simulator/mj_wrapper/mj_renderer.py
@@ -2,9 +2,7 @@
 Useful classes for supporting DeepMind MuJoCo binding.
 """
 
-import gc
 import os
-from tempfile import TemporaryDirectory
 
 # DIRTY HACK copied from mujoco-py - a global lock on rendering
 from threading import Lock
@@ -16,11 +14,8 @@
 
 import ctypes
 import ctypes.util
-import os
 import platform
-import subprocess
 
-import threading
 _SYSTEM = platform.system()
 if _SYSTEM == "Windows":
     ctypes.WinDLL(os.path.join(os.path.dirname(__file__), "mujoco.dll"))
diff --git a/src/physics_simulator/simulator/mujoco.py b/src/physics_simulator/simulator/mujoco.py
@@ -27,20 +27,17 @@
 #
 #####################################################################################
 
-import traceback
 import time
 import os
-import gc
 import signal
-from typing import List, Dict
+from typing import Dict
 from typing import Callable, Any
 
 # MuJoCo imports
 import mujoco
-from mujoco import viewer
 
 # Third-party imports
-from auro_utils import xyzw_to_wxyz, wxyz_to_xyzw, Logger
+from auro_utils import wxyz_to_xyzw, Logger
 from threading import RLock
 
 import pathlib
@@ -62,6 +59,7 @@
 from pathlib import Path
 
 from physics_simulator.utils.path_manager import PathManager
+import mujoco.viewer
 
 class MujocoSimulator(BaseSim):
     def __init__(self, physics_simulator_config: PhysicsSimulatorConfig):
@@ -505,7 +503,7 @@ def add_default_scene(self, ground_plane_config: GroundPlaneConfig=None):
             Path()
             .joinpath(self.synthnova_assets_directory)
             .joinpath("synthnova_assets")
-            .joinpath(f"default_ground_plane.xml")
+            .joinpath("default_ground_plane.xml")
         ).as_posix()
 
         if not Path(ground_plane_xml_path).exists():
diff --git a/src/physics_simulator/utils/camera_utils.py b/src/physics_simulator/utils/camera_utils.py
@@ -7,10 +7,8 @@
 camera matrices and transforming from world to camera frame or vice-versa.
 """
 
-import json
 import xml.etree.ElementTree as ET
 
-import h5py
 import numpy as np
 
 import physics_simulator.utils.transform_utils as T
diff --git a/src/physics_simulator/utils/control_utils.py b/src/physics_simulator/utils/control_utils.py
@@ -3,7 +3,6 @@
 """
 
 import math
-import numpy as np
 
 
 class PIDController:
diff --git a/src/physics_simulator/utils/data_types.py b/src/physics_simulator/utils/data_types.py
@@ -27,8 +27,8 @@
 # Date: 2025-02-10
 #
 #####################################################################################
-from typing import Literal, List, Optional, Any
-from pydantic import BaseModel, Field, ConfigDict, model_validator
+from typing import List, Optional, Any
+from pydantic import BaseModel, ConfigDict
 import numpy as np
 
 
diff --git a/src/physics_simulator/utils/path_manager.py b/src/physics_simulator/utils/path_manager.py
@@ -28,7 +28,6 @@
 #####################################################################################
 
 
-import os
 from pathlib import Path
 
 
diff --git a/src/physics_simulator/utils/visualize_urdf.py b/src/physics_simulator/utils/visualize_urdf.py
@@ -16,10 +16,8 @@
 
 import argparse
 import time
-from typing import Literal
 
 import numpy as np
-import tyro
 
 import viser
 from viser.extras import ViserUrdf
