check-uv

.github/workflows/code-cleanup.yml

@@ -19,6 +19,7 @@ jobs:
 
     - uses: actions/checkout@v3
     - uses: actions/setup-python@v3
+    - uses: astral-sh/setup-uv@v4
     - name: Run pre-commit
       id: pre-commit-first
       uses: pre-commit/action@v3.0.1

.pre-commit-config.yaml

@@ -63,6 +63,13 @@ repos:
 
   - repo: local
     hooks:
+      - id: uv-lock-check
+        name: Check uv.lock is up-to-date
+        entry: uv lock --check
+        language: system
+        files: ^pyproject\.toml$
+        pass_filenames: false
+
       - id: lfs_check
         name: LFS data
         always_run: true

dimos/hardware/manipulators/base/components/motion.py

@@ -17,7 +17,7 @@
 import logging
 from queue import Queue
 import time
-from typing import Any, Optional
+from typing import Any
 
 from ..driver import Command
 from ..sdk_interface import BaseManipulatorSDK
@@ -186,7 +186,7 @@ def move_joint_velocity(
 
                 # Check velocity limits
                 if self.capabilities.max_joint_velocity:
-                    valid, error = validate_velocity_limits(
+                    valid, _error = validate_velocity_limits(
                         velocities, self.capabilities.max_joint_velocity, self.velocity_scale
                     )
                     if not valid:

dimos/hardware/manipulators/base/components/servo.py

@@ -16,7 +16,7 @@
 
 import logging
 import time
-from typing import Any, Optional
+from typing import Any
 
 from ..sdk_interface import BaseManipulatorSDK
 from ..spec import ManipulatorCapabilities

dimos/hardware/manipulators/base/components/status.py

@@ -15,12 +15,12 @@
 """Standard status monitoring component for manipulator drivers."""
 
 from collections import deque
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 import logging
 import time
-from typing import Any, Optional
+from typing import Any
 
-from ..sdk_interface import BaseManipulatorSDK, ManipulatorInfo
+from ..sdk_interface import BaseManipulatorSDK
 from ..spec import ManipulatorCapabilities
 from ..utils import SharedState
 from . import component_api

dimos/hardware/manipulators/base/driver.py

@@ -14,19 +14,18 @@
 
 """Base manipulator driver with threading and component management."""
 
-from abc import ABC
 from dataclasses import dataclass
 import logging
 from queue import Empty, Queue
 from threading import Event, Thread
 import time
-from typing import Any, Optional
+from typing import Any
 
 from dimos.core import In, Module, Out, rpc
 from dimos.msgs.geometry_msgs import WrenchStamped
 from dimos.msgs.sensor_msgs import JointCommand, JointState, RobotState
 
-from .sdk_interface import BaseManipulatorSDK, ManipulatorInfo
+from .sdk_interface import BaseManipulatorSDK
 from .spec import ManipulatorCapabilities
 from .utils import SharedState
 

dimos/hardware/manipulators/base/spec.py

@@ -13,11 +13,10 @@
 # limitations under the License.
 
 from dataclasses import dataclass
-from typing import Any, Optional, Protocol
+from typing import Any, Protocol
 
 from dimos.core import In, Out
-from dimos.msgs.geometry_msgs import PoseStamped, Twist, WrenchStamped
-from dimos.msgs.nav_msgs import Path
+from dimos.msgs.geometry_msgs import WrenchStamped
 from dimos.msgs.sensor_msgs import JointCommand, JointState
 
 

dimos/hardware/manipulators/base/utils/converters.py

@@ -15,10 +15,9 @@
 """Unit conversion utilities for manipulator drivers."""
 
 import math
-from typing import Union
 
 
-def degrees_to_radians(degrees: Union[float, list[float]]) -> Union[float, list[float]]:
+def degrees_to_radians(degrees: float | list[float]) -> float | list[float]:
     """Convert degrees to radians.
 
     Args:
@@ -32,7 +31,7 @@ def degrees_to_radians(degrees: Union[float, list[float]]) -> Union[float, list[
     return math.radians(degrees)
 
 
-def radians_to_degrees(radians: Union[float, list[float]]) -> Union[float, list[float]]:
+def radians_to_degrees(radians: float | list[float]) -> float | list[float]:
     """Convert radians to degrees.
 
     Args:
@@ -46,7 +45,7 @@ def radians_to_degrees(radians: Union[float, list[float]]) -> Union[float, list[
     return math.degrees(radians)
 
 
-def mm_to_meters(mm: Union[float, list[float]]) -> Union[float, list[float]]:
+def mm_to_meters(mm: float | list[float]) -> float | list[float]:
     """Convert millimeters to meters.
 
     Args:
@@ -60,7 +59,7 @@ def mm_to_meters(mm: Union[float, list[float]]) -> Union[float, list[float]]:
     return mm / 1000.0
 
 
-def meters_to_mm(meters: Union[float, list[float]]) -> Union[float, list[float]]:
+def meters_to_mm(meters: float | list[float]) -> float | list[float]:
     """Convert meters to millimeters.
 
     Args:
@@ -74,7 +73,7 @@ def meters_to_mm(meters: Union[float, list[float]]) -> Union[float, list[float]]
     return meters * 1000.0
 
 
-def rpm_to_rad_per_sec(rpm: Union[float, list[float]]) -> Union[float, list[float]]:
+def rpm_to_rad_per_sec(rpm: float | list[float]) -> float | list[float]:
     """Convert RPM to rad/s.
 
     Args:
@@ -89,7 +88,7 @@ def rpm_to_rad_per_sec(rpm: Union[float, list[float]]) -> Union[float, list[floa
     return rpm * factor
 
 
-def rad_per_sec_to_rpm(rad_per_sec: Union[float, list[float]]) -> Union[float, list[float]]:
+def rad_per_sec_to_rpm(rad_per_sec: float | list[float]) -> float | list[float]:
     """Convert rad/s to RPM.
 
     Args:

dimos/hardware/manipulators/base/utils/shared_state.py

@@ -17,7 +17,7 @@
 from dataclasses import dataclass, field
 from threading import Lock
 import time
-from typing import Any, Optional
+from typing import Any
 
 
 @dataclass

dimos/hardware/manipulators/base/utils/validators.py

@@ -14,7 +14,7 @@
 
 """Validation utilities for manipulator drivers."""
 
-from typing import Any, Optional, cast
+from typing import cast
 
 
 def validate_joint_limits(

dimos/hardware/manipulators/piper/components/state_queries.py

@@ -25,7 +25,7 @@
 """
 
 import threading
-from typing import Any, Optional
+from typing import Any
 
 from dimos.core import rpc
 from dimos.msgs.sensor_msgs import JointState, RobotState

dimos/hardware/manipulators/piper/piper_driver.py

@@ -16,7 +16,7 @@
 
 import logging
 import time
-from typing import Any, Optional
+from typing import Any
 
 from dimos.hardware.manipulators.base import (
     BaseManipulatorDriver,

dimos/hardware/manipulators/piper/piper_wrapper.py

@@ -16,7 +16,7 @@
 
 import logging
 import time
-from typing import Any, Optional
+from typing import Any
 
 from ..base.sdk_interface import BaseManipulatorSDK, ManipulatorInfo
 

dimos/hardware/manipulators/xarm/components/state_queries.py

@@ -23,7 +23,7 @@
 """
 
 import threading
-from typing import TYPE_CHECKING, Any, Optional
+from typing import TYPE_CHECKING, Any
 
 from dimos.core import rpc
 from dimos.msgs.sensor_msgs import JointState, RobotState

dimos/hardware/manipulators/xarm/spec.py

@@ -16,9 +16,8 @@
 from typing import Protocol
 
 from dimos.core import In, Out
-from dimos.msgs.geometry_msgs import PoseStamped, Twist, WrenchStamped
-from dimos.msgs.nav_msgs import Path
-from dimos.msgs.sensor_msgs import JointCommand, JointState, RobotState as RobotStateMsg
+from dimos.msgs.geometry_msgs import WrenchStamped
+from dimos.msgs.sensor_msgs import JointCommand, JointState
 
 
 @dataclass

dimos/hardware/manipulators/xarm/xarm_wrapper.py

@@ -16,7 +16,7 @@
 
 import logging
 import math
-from typing import Any, Optional
+from typing import Any
 
 from ..base.sdk_interface import BaseManipulatorSDK, ManipulatorInfo
 

dimos/hardware/sensors/camera/module.py

@@ -16,7 +16,6 @@
 from dataclasses import dataclass, field
 import queue
 import time
-from typing import Any, Generic, Literal, Optional, Protocol, TypeVar
 
 from dimos_lcm.sensor_msgs import CameraInfo
 import reactivex as rx
@@ -28,7 +27,7 @@
 from dimos.agents import Output, Reducer, Stream, skill  # type: ignore[attr-defined]
 from dimos.core import Module, ModuleConfig, Out, rpc
 from dimos.hardware.sensors.camera.spec import CameraHardware
-from dimos.hardware.sensors.camera.webcam import Webcam, WebcamConfig
+from dimos.hardware.sensors.camera.webcam import Webcam
 from dimos.msgs.geometry_msgs import Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs import Image
 from dimos.msgs.sensor_msgs.Image import Image, sharpness_barrier

dimos/manipulation/control/servo_control/cartesian_motion_controller.py

@@ -30,7 +30,7 @@
 import math
 import threading
 import time
-from typing import Any, Optional
+from typing import Any
 
 from dimos.core import In, Module, Out, rpc
 from dimos.core.module import ModuleConfig

dimos/manipulation/control/servo_control/example_cartesian_control.py

@@ -31,7 +31,6 @@
 """
 
 import signal
-import sys
 import time
 
 from dimos import core

dimos/manipulation/control/trajectory_controller/example_trajectory_control.py

@@ -29,14 +29,13 @@
 """
 
 import signal
-import sys
 import time
 
 from dimos import core
 from dimos.hardware.manipulators.xarm import XArmDriver
 from dimos.manipulation.control import JointTrajectoryController
 from dimos.msgs.sensor_msgs import JointCommand, JointState, RobotState
-from dimos.msgs.trajectory_msgs import JointTrajectory, TrajectoryPoint, TrajectoryState
+from dimos.msgs.trajectory_msgs import JointTrajectory, TrajectoryState
 
 # Global flag for graceful shutdown
 shutdown_requested = False

dimos/manipulation/control/trajectory_controller/joint_trajectory_controller.py

@@ -330,7 +330,7 @@ def _execution_loop(self) -> None:
                             )
                         else:
                             # Sample trajectory
-                            q_ref, qd_ref = self._trajectory.sample(t)
+                            q_ref, _qd_ref = self._trajectory.sample(t)
 
                             # Create and publish command (outside lock would be better but simpler here)
                             cmd = JointCommand(positions=q_ref, timestamp=time.time())

dimos/protocol/skill/coordinator.py

@@ -17,7 +17,6 @@
 from dataclasses import dataclass
 from enum import Enum
 import json
-import threading
 import time
 from typing import Any, Literal
 
@@ -28,7 +27,7 @@
 from rich.text import Text
 
 from dimos.core import rpc
-from dimos.core.module import Module, ModuleConfig, get_loop
+from dimos.core.module import Module, ModuleConfig
 from dimos.protocol.skill.comms import LCMSkillComms, SkillCommsSpec
 from dimos.protocol.skill.skill import SkillConfig, SkillContainer  # type: ignore[attr-defined]
 from dimos.protocol.skill.type import MsgType, Output, Reducer, Return, SkillMsg, Stream

dimos/simulation/mujoco/input_controller.py

@@ -18,8 +18,6 @@
 
 from numpy.typing import NDArray
 
-from dimos.hardware.end_effectors.end_effector import EndEffector
-
 
 class InputController(Protocol):
     """A protocol for input devices to control the robot."""