Merge branch 'humble-devel' of github.com:AGH-CEAI/aegis_ros into Feature/wled_integration

Taboredeq · Taboredeq · commit 5b6d1bdec715 · 2026-07-30T15:20:02.000+02:00
diff --git a/.github/workflows/pr-checklist.yaml b/.github/workflows/pr-checklist.yaml
@@ -3,6 +3,7 @@ name: PR checklist enforcement
 on:
   pull_request:
     types: [opened, edited, synchronize, reopened]
+  workflow_dispatch:
 
 permissions:
   pull-requests: write
diff --git a/.github/workflows/pre-commit_prek.yaml b/.github/workflows/pre-commit_prek.yaml
@@ -1,7 +1,10 @@
 ---
 name: Pre-commit (Prek)
 
-on: [push]
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
 
 jobs:
   prek:
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -63,7 +63,7 @@ repos:
     -   id: sort-package-xml
 
 -   repo: https://github.com/astral-sh/uv-pre-commit
-    rev: 0.12.0
+    rev: 0.11.32
     hooks:
     -   id: uv-lock
 
diff --git a/aegis_bringup/CHANGELOG.md b/aegis_bringup/CHANGELOG.md
@@ -13,6 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* [PR-130](https://github.com/AGH-CEAI/aegis_ros/pull/130) - New ruff formatting.
 * [PR-129](https://github.com/AGH-CEAI/aegis_ros/pull/129) - Updated `launch_diagram.plantuml` with wled_service and pylon_cameras_driver 
 * [PR-127](https://github.com/AGH-CEAI/aegis_ros/pull/127) - Updated README and UML diagram.
 
diff --git a/aegis_bringup/launch/bringup.launch.py b/aegis_bringup/launch/bringup.launch.py
@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 from launch import LaunchContext, LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
diff --git a/aegis_control/CHANGELOG.md b/aegis_control/CHANGELOG.md
@@ -16,6 +16,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* [PR-130](https://github.com/AGH-CEAI/aegis_ros/pull/130) - New ruff formatting.
 * [PR-127](https://github.com/AGH-CEAI/aegis_ros/pull/127) - Camera drivers can now be skipped in `start_drivers.launch.py` via the `disable_cameras` argument.
 
 ### Deprecated
diff --git a/aegis_control/launch/depthai_cameras_driver.launch.py b/aegis_control/launch/depthai_cameras_driver.launch.py
@@ -74,12 +74,12 @@ def _modify_config(self, enable_nn: bool) -> None:
         model_path = Path.home() / "ceai_models" / "yolo.blob"
         yolo_src_cfg_path = package_share_path / "config" / "cameras" / "yolo.json"
 
-        self.yolo_cfg_path = Path(
-            tempfile.NamedTemporaryFile(suffix=".json", delete=False).name
-        )
-        self.cam_params_path = Path(
-            tempfile.NamedTemporaryFile(suffix=".yaml", delete=False).name
-        )
+        def make_temp_path(suffix: str) -> Path:
+            with tempfile.NamedTemporaryFile(suffix=suffix, delete=False) as tmp:
+                return Path(tmp.name)
+
+        self.yolo_cfg_path = make_temp_path(".json")
+        self.cam_params_path = make_temp_path(".yaml")
 
         with open(yolo_src_cfg_path, "r") as file:
             yolo_cfg = json.load(file)
diff --git a/aegis_control/launch/start_drivers.launch.py b/aegis_control/launch/start_drivers.launch.py
@@ -1,4 +1,3 @@
-# Bypassing the launch system to access local import
 import os
 import sys
 
@@ -14,6 +13,7 @@
 from launch_ros.parameter_descriptions import ParameterFile
 from launch_ros.substitutions import FindPackageShare
 
+# HACK Bypassing the launch system to access local import
 run_path = os.path.dirname(os.path.realpath(__file__))
 sys.path.append(run_path)
 from include.utils import str2bool
diff --git a/aegis_control/launch/ur_driver.launch.py b/aegis_control/launch/ur_driver.launch.py
@@ -1,4 +1,3 @@
-# Bypassing the launch system to access local import
 import os
 import sys
 
@@ -8,6 +7,7 @@
 from launch.substitutions import FindExecutable, LaunchConfiguration
 from launch_ros.actions import Node
 
+# HACK Bypassing the launch system to access local import
 run_path = os.path.dirname(os.path.realpath(__file__))
 sys.path.append(run_path)
 from include.utils import str2bool, controllers_spawner  # noqa E402
diff --git a/aegis_control/scripts/pylon_roi_setter.py b/aegis_control/scripts/pylon_roi_setter.py
@@ -28,7 +28,7 @@ def __init__(self):
             with open(config_file, "r") as f:
                 self.config: dict[str, dict[str, int]] = yaml.safe_load(f)
             self.get_logger().info(f"Loaded config from {config_file}")
-        except Exception as e:
+        except Exception as e:  # noqa: BLE001
             self.get_logger().error(f"Failed to load {config_file}: {e}")
             return
 
diff --git a/aegis_control/scripts/pylon_white_balance_setter.py b/aegis_control/scripts/pylon_white_balance_setter.py
@@ -35,7 +35,7 @@ def __init__(self):
             with open(config_file, "r") as f:
                 self.config: dict[str, dict[str, int]] = yaml.safe_load(f)
             self.get_logger().info(f"Loaded config from {config_file}")
-        except Exception as e:
+        except Exception as e:  # noqa: BLE001
             self.get_logger().error(f"Failed to load {config_file}: {e}")
             return
 
diff --git a/aegis_description/CHANGELOG.md b/aegis_description/CHANGELOG.md
@@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * [PR-95](https://github.com/AGH-CEAI/aegis_ros/pull/118) - Added cell adapter.
 
 ### Changed
+
+* [PR-130](https://github.com/AGH-CEAI/aegis_ros/pull/130) - New ruff formatting.
+
 ### Deprecated
 ### Removed
 ### Fixed
diff --git a/aegis_description/README.md b/aegis_description/README.md
@@ -14,10 +14,17 @@ This package contains a description of the Aegis robot station, which consists o
 - Basler ace acA1920-40gc Camera
 - Computar Lens for Basler Tool Camera
 
-## Preview
+## Standalone preview
 
 ```bash
-ros2 launch aegis_description display.launch.py
+ros2 launch aegis_description aegis_preview.launch.py
+```
+
+## Generate standalone URDF files
+
+Useful for exporting model to simulation (or ClearML dataset).
+```bash
+ros2 launch aegis_description generate_standalone_urdf.launch.py save_dir:="~/ceai_ws/aegis_urdf" disable_cell:="false" disable_cell_collision:="false"
 ```
 
 ![aegis_preview](./docs/aegis_preview.png)
diff --git a/aegis_director/CHANGELOG.md b/aegis_director/CHANGELOG.md
@@ -9,6 +9,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 ### Changed
+
+* [PR-130](https://github.com/AGH-CEAI/aegis_ros/pull/130) - New ruff formatting.
+
 ### Deprecated
 ### Removed
 ### Fixed
diff --git a/aegis_director/aegis_director/main.py b/aegis_director/aegis_director/main.py
@@ -1,3 +1,4 @@
+import sys
 import time
 
 import numpy as np
@@ -89,7 +90,7 @@ def main(args=None):
     node.get_logger().info(f"Joint positions: {director.get_joint_positions()}")
 
     rclpy.shutdown()
-    exit(0)
+    sys.exit(0)
 
 
 if __name__ == "__main__":
diff --git a/aegis_director/aegis_director/robot_director.py b/aegis_director/aegis_director/robot_director.py
@@ -311,7 +311,7 @@ def servo_move(
     def servo_jog(
         self,
         joint_names: tuple[str, ...],
-        velocities: tuple[float, ...] = tuple(),
+        velocities: tuple[float, ...] = (),
     ) -> None:
         if not self.servo_enabled:
             self.node.get_logger().warn("Enable servo before moving. Ignoring.")
diff --git a/aegis_grpc/CHANGELOG.md b/aegis_grpc/CHANGELOG.md
@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 ### Changed
 
+* [PR-130](https://github.com/AGH-CEAI/aegis_ros/pull/130) - New ruff formatting.
 * [PR-125](https://github.com/AGH-CEAI/aegis_ros/pull/125) - Client: Reordered the joints to match simulation joints order.
 * [PR-125](https://github.com/AGH-CEAI/aegis_ros/pull/125) - Client: Changed cameras names and introduced StrEnums for all literals.
 * [PR-119](https://github.com/AGH-CEAI/aegis_ros/pull/119) - Server: parametrized topics subs buffer size (and changed default from `10` to `1`).
diff --git a/aegis_moveit_config/CHANGELOG.md b/aegis_moveit_config/CHANGELOG.md
@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 ### Changed
 
+* [PR-130](https://github.com/AGH-CEAI/aegis_ros/pull/130) - New ruff formatting.
 * [PR-118](https://github.com/AGH-CEAI/aegis_ros/pull/114) - Updated collision checking.
 
 ### Deprecated
diff --git a/aegis_utils/CHANGELOG.md b/aegis_utils/CHANGELOG.md
@@ -9,6 +9,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 ### Changed
+
+* [PR-130](https://github.com/AGH-CEAI/aegis_ros/pull/130) - New ruff formatting.
+
 ### Deprecated
 ### Removed
 ### Fixed
diff --git a/aegis_utils/aegis_utils/calib_data_collect.py b/aegis_utils/aegis_utils/calib_data_collect.py
@@ -1,7 +1,7 @@
 import argparse
 import threading
 import time
-from datetime import datetime
+from datetime import datetime, timezone
 from pathlib import Path
 
 import cv2
@@ -69,7 +69,7 @@ def image_callback(self, msg: Image) -> None:
             with self.mutex:
                 self.image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
                 self.timestamp = self.get_timestamp(msg.header.stamp)
-        except Exception as e:
+        except Exception as e:  # noqa: BLE001
             self.get_logger().error(f"Failed to convert image: {e}")
 
     def get_timestamp(self, stamp: Time) -> float:
@@ -78,9 +78,12 @@ def get_timestamp(self, stamp: Time) -> float:
     def get_image(self, time_start: float, timeout: float = 3.0) -> np.ndarray | None:
         while self.get_clock().now().nanoseconds / 1e9 - time_start < timeout:
             with self.mutex:
-                if self.image is not None and self.timestamp is not None:
-                    if self.timestamp > time_start:
-                        return self.image.copy()
+                if (
+                    self.image is not None
+                    and self.timestamp is not None
+                    and self.timestamp > time_start
+                ):
+                    return self.image.copy()
             time.sleep(1)
         return None
 
@@ -113,7 +116,7 @@ def main() -> None:
     cam_name = args.camera
     path_name = args.path
 
-    timestamp = datetime.now().strftime("%y-%m-%d_%H-%M-%S")
+    timestamp = datetime.now(timezone.utc).strftime("%y-%m-%d_%H-%M-%S")
 
     if path_name:
         data_path = Path(path_name).expanduser() / f"{cam_name}_{timestamp}"
diff --git a/aegis_utils/aegis_utils/calib_extrinsics.py b/aegis_utils/aegis_utils/calib_extrinsics.py
@@ -90,7 +90,7 @@ def get_latest_folder(base_path: Path, camera: str) -> Path | None:
     folders = glob.glob(str(base_path / f"{camera}_*"))
     if not folders:
         return None
-    latest_folder = sorted(folders, reverse=True)[0]
+    latest_folder = max(folders)
     return Path(latest_folder)
 
 
diff --git a/aegis_utils/aegis_utils/calib_intrinsics.py b/aegis_utils/aegis_utils/calib_intrinsics.py
@@ -78,7 +78,7 @@ def get_latest_folder(base_path: Path, camera: str) -> Path | None:
     folders = glob.glob(str(base_path / f"{camera}_*"))
     if not folders:
         return None
-    latest_folder = sorted(folders, reverse=True)[0]
+    latest_folder = max(folders)
     return Path(latest_folder)
 
 
@@ -131,7 +131,7 @@ def calibrate_intrinsics(
         print("No valid views for calibration")
         return
 
-    ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.aruco.calibrateCameraCharuco(
+    _ret, camera_matrix, dist_coeffs, _rvecs, _tvecs = cv2.aruco.calibrateCameraCharuco(
         charucoCorners=all_corners,
         charucoIds=all_ids,
         board=board,
diff --git a/aegis_utils/aegis_utils/measure_camera_error.py b/aegis_utils/aegis_utils/measure_camera_error.py
@@ -6,7 +6,7 @@
 import threading
 import time
 import tty
-from datetime import datetime
+from datetime import datetime, timezone
 from pathlib import Path
 
 import cv2
@@ -190,7 +190,7 @@ def get_image_from_camera(self) -> np.ndarray | None:
     def measure_position_from_marker(self, image: np.ndarray) -> TcpPosCamera | None:
         parameters = cv2.aruco.DetectorParameters()
 
-        corners, ids, _ = cv2.aruco.detectMarkers(
+        corners, _ids, _ = cv2.aruco.detectMarkers(
             image, self.aruco_dict, parameters=parameters
         )
 
@@ -294,7 +294,7 @@ def main() -> None:
     data_path = args.data_path
     tool_offset = args.tool_offset
 
-    timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    timestamp = datetime.now(timezone.utc).strftime("%Y%m%d_%H%M%S")
 
     if result_path:
         res_path = Path(result_path).expanduser() / f"{cam_name}_{timestamp}"
diff --git a/aegis_utils/aegis_utils/measure_camera_error_ros_nodes.py b/aegis_utils/aegis_utils/measure_camera_error_ros_nodes.py
@@ -73,7 +73,7 @@ def image_callback(self, msg: Image) -> None:
             with self.mutex:
                 self.image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
                 self.timestamp = self.get_timestamp(msg.header.stamp)
-        except Exception as e:
+        except Exception as e:  # noqa: BLE001
             self.get_logger().error(f"Failed to convert image: {e}")
 
     def get_timestamp(self, time_msg: Time) -> float:
@@ -115,7 +115,7 @@ def get_calibration_tool_pose_in_base(self) -> dict[str, np.ndarray]:
                 "calibration_tool",  # source frame
                 Time(),  # latest available
             )
-        except Exception as e:
+        except Exception as e:  # noqa: BLE001
             self.get_logger().error(
                 f"Failed to lookup transform base->calibration_tool: {e}"
             )
@@ -155,7 +155,7 @@ def get_object_pose_in_base(self) -> dict[str, np.ndarray]:
                 "detected_object",  # source frame
                 Time(),  # latest available
             )
-        except Exception as e:
+        except Exception as e:  # noqa: BLE001
             self.get_logger().error(
                 f"Failed to lookup transform base->detected_object: {e}"
             )
@@ -301,10 +301,7 @@ def play_if_remote(self) -> bool:
         # )
 
         state = self.get_program_state()
-        if state == "PLAYING":
-            return True
-        else:
-            return False
+        return state == "PLAYING"
 
     def stop_if_remote(self) -> bool:
         if not self.is_remote():
@@ -319,10 +316,7 @@ def stop_if_remote(self) -> bool:
         # )
 
         state = self.get_program_state()
-        if state == "STOPPED":
-            return True
-        else:
-            return False
+        return state == "STOPPED"
 
     def get_program_state(self) -> str:
         time.sleep(1)

Original file line number	Diff line number	Diff line change
`@@ -1,5 +1,3 @@`
`1`		`-#!/usr/bin/env python3`
`2`		`-`
`3`	`1`	`from launch import LaunchContext, LaunchDescription`
`4`	`2`	`from launch.actions import (`
`5`	`3`	`DeclareLaunchArgument,`