style: fix gym warning and path obj in cli

Author: juelg

extensions/rcs_zed/src/rcs_zed/__main__.py

@@ -11,8 +11,6 @@
 logger = logging.getLogger(__name__)
 zed_app = typer.Typer(help="CLI tools for the ZED camera module of rcs.")
 
-DEFAULT_RGB_SNAPSHOT_OUTPUT_OPTION = typer.Option(Path("zed_latest.png"), "--output", "-o", help="PNG file to write.")
-
 
 def _display_frame(window_name: str, frame):
     cv2.imshow(window_name, frame.camera.color.data[:, :, ::-1])
@@ -97,17 +95,18 @@ def rgb_view(
 @zed_app.command("rgb-snapshot")
 def rgb_snapshot(
     serial: str | None = typer.Argument(None, help="Optional ZED serial number. Uses the first device if omitted."),
-    output: Path = DEFAULT_RGB_SNAPSHOT_OUTPUT_OPTION,
+    output: str = typer.Option("zed_latest.png", "--output", "-o", help="PNG file to write."),
     width: int = typer.Option(1280, help="Requested capture width."),
     height: int = typer.Option(720, help="Requested capture height."),
     fps: int = typer.Option(30, help="Requested capture frame rate."),
     duration: float = typer.Option(1.0, "--duration", "-d", help="Seconds to read frames before saving."),
 ):
     """Open a ZED camera briefly and save the latest RGB frame as a PNG."""
+    output_path = Path(output)
     if duration <= 0:
         msg = "Duration must be greater than zero."
         raise typer.BadParameter(msg)
-    if output.suffix.lower() != ".png":
+    if output_path.suffix.lower() != ".png":
         msg = "Output path must end in .png."
         raise typer.BadParameter(msg)
 
@@ -131,11 +130,11 @@ def rgb_snapshot(
         camera.close()
 
     assert latest_frame is not None
-    output.parent.mkdir(parents=True, exist_ok=True)
+    output_path.parent.mkdir(parents=True, exist_ok=True)
     image_bgr = latest_frame.camera.color.data[:, :, ::-1]
     print(latest_frame.camera.color.intrinsics)
-    if not cv2.imwrite(str(output), image_bgr):
-        msg = f"Could not write PNG to {output}."
+    if not cv2.imwrite(str(output_path), image_bgr):
+        msg = f"Could not write PNG to {output_path}."
         raise typer.BadParameter(msg)
 
     typer.echo(f"Saved {output} from ZED {serial} after reading {frames_read} frame(s).")

python/rcs/envs/base.py

@@ -283,7 +283,8 @@ def reset(
                 self.np_random, _ = seeding.np_random(seed)
         re = super().reset(seed=None, options=options)
         if self.env.get_wrapper_attr("PLATFORM") == RobotPlatform.SIMULATION:
-            self.sim.step(30)  # apply reset state
+            sim = cast(simulation.Sim, self.get_wrapper_attr("sim"))
+            sim.step(30)  # apply reset state
         return re