refactor(hand): fix pyformat, pylint and pytest

Author: khaledmohamed00

python/rcsss/envs/factories.py

@@ -27,8 +27,6 @@
     RandomCubePos,
     SimWrapper,
 )
-from rcsss.hand.hand import Hand
-from rcsss.hand.tilburg_hand_control import TilburgHandControl
 from rcsss.envs.space_utils import Vec7Type
 from rcsss.envs.utils import (
     default_fr3_hw_gripper_cfg,
@@ -38,6 +36,8 @@
     default_realsense,
     get_urdf_path,
 )
+from rcsss.hand.hand import Hand
+from rcsss.hand.tilburg_hand_control import TilburgHandControl
 
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.INFO)

python/rcsss/hand/hand.py

@@ -8,7 +8,7 @@ def __init__(self):
         pass
 
     def grasp(self, value: float):
-        self.value = value # to pass pylint
+        self.value = value  # to pass pylint
         message = "This method should be overridden by subclasses."
         raise NotImplementedError(message)
 
@@ -25,7 +25,7 @@ def get_pos_vector(self):
         raise NotImplementedError(message)
 
     def set_pos_vector(self, values: list):
-        self.values = values # to pass pylint
+        self.values = values  # to pass pylint
         message = "This method should be overridden by subclasses."
         raise NotImplementedError(message)
 
@@ -40,8 +40,8 @@ class Hand:
     def __init__(self, hand: HandControl):
         self._hand = hand
 
-    def grasp(self):
-        self._hand.grasp()
+    def grasp(self, value):
+        self._hand.grasp(value)
 
     def reset(self):
         self._hand.set_zero_pos()

python/rcsss/hand/tilburg_hand_control.py

@@ -124,15 +124,15 @@ def sleep(self, seconds: float):
         """
         sleep(seconds)
 
-    def set_joint_pos(self, finger_joint : Finger, pos_value: float):
+    def set_joint_pos(self, finger_joint: Finger, pos_value: float):
         """
         Sets a single joint to a specific normalized position.
         """
         self._motors.set_pos_single(finger_joint, pos_value, unit=self.pos_value_unit)
         self._pos_normalized[int(finger_joint)] = pos_value
         logger.info(f"Set joint {finger_joint.name} to {pos_value:.2f}")
 
-    def reset_joint_pos(self, finger_joint : Finger):
+    def reset_joint_pos(self, finger_joint: Finger):
         """
         Resets a specific joint to zero.
         """