chore: configure ruff lint rules and fix what they surfaced

examples/camera_viz/pipeline/runner.py

@@ -200,7 +200,7 @@ def _record_error(self, exc: BaseException, where: str) -> None:
         with self._error_lock:
             if self._error is None:
                 self._error = exc
-        logger.error("VizRunner %s thread failed: %s", where, exc, exc_info=True)
+        logger.error("VizRunner %s thread failed: %s", where, exc, exc_info=exc)
         self._stop.set()
         with self._data_cond:
             self._data_cond.notify_all()

examples/camera_viz/sources/oakd.py

@@ -30,7 +30,7 @@
 import threading
 import time
 from dataclasses import dataclass, field
-from typing import List, Optional
+from typing import ClassVar, List, Optional
 
 import numpy as np
 
@@ -120,7 +120,7 @@ class _OakdDevice:
     closes it.
     """
 
-    _SOCKET_MAP = {
+    _SOCKET_MAP: ClassVar[dict[str, str]] = {
         "RGB": "CAM_A",
         "CAM_A": "CAM_A",
         "LEFT": "CAM_B",

examples/camera_viz/sources/synthetic.py

@@ -234,27 +234,29 @@ def _produce_loop(self) -> None:
             diag_l = (x_grid_l + y_grid) / float(w + h)
             diag_r = (x_grid_r + y_grid) / float(w + h)
 
+            # Defined once, above the loop: taking phase as a parameter avoids
+            # rebuilding a closure over it on every generated frame.
+            def fill(buf, diag, phase):
+                r = (cp.sin((diag + phase) * 6.2831853) * 127.0 + 128.0).astype(
+                    cp.uint8
+                )
+                g = (
+                    cp.sin((diag + phase + 0.3333) * 6.2831853) * 127.0 + 128.0
+                ).astype(cp.uint8)
+                b = (
+                    cp.sin((diag + phase + 0.6667) * 6.2831853) * 127.0 + 128.0
+                ).astype(cp.uint8)
+                buf[..., 0] = r
+                buf[..., 1] = g
+                buf[..., 2] = b
+                buf[..., 3] = 255
+
             while not self._stop.is_set():
                 t = (time.monotonic_ns() - self._t0_ns) * 1e-9
                 phase = (t * self._hue_speed_hz) % 1.0
 
-                def fill(buf, diag):
-                    r = (cp.sin((diag + phase) * 6.2831853) * 127.0 + 128.0).astype(
-                        cp.uint8
-                    )
-                    g = (
-                        cp.sin((diag + phase + 0.3333) * 6.2831853) * 127.0 + 128.0
-                    ).astype(cp.uint8)
-                    b = (
-                        cp.sin((diag + phase + 0.6667) * 6.2831853) * 127.0 + 128.0
-                    ).astype(cp.uint8)
-                    buf[..., 0] = r
-                    buf[..., 1] = g
-                    buf[..., 2] = b
-                    buf[..., 3] = 255
-
-                fill(self._left[self._write_idx], diag_l)
-                fill(self._right[self._write_idx], diag_r)
+                fill(self._left[self._write_idx], diag_l, phase)
+                fill(self._right[self._write_idx], diag_r, phase)
                 cp.cuda.Stream.null.synchronize()
 
                 with self._lock:

examples/camera_viz/sources/zed.py

@@ -310,7 +310,7 @@ def _hint():
 
         # Pyzed Mats are pitched GPU buffers — one per eye, reused every
         # grab() / retrieve_image() pair.
-        for eye, slot in self._slots.items():
+        for slot in self._slots.values():
             slot.zed_mat = sl.Mat()
 
         self._camera = camera

examples/camera_viz/transports/rtp_h264_sender.py

@@ -252,7 +252,7 @@ def _send_loop(self) -> None:
                     raise RuntimeError(
                         f"RtpH264Sender: encode failed {consecutive_encode_failures} "
                         f"times in a row; surfacing to supervisor for full restart"
-                    )
+                    ) from e
                 continue
 
             for pkt in packets:

examples/noitom/noitom_retargeting.py

@@ -1264,7 +1264,7 @@ def compute_robot_reference_positions(
     parsed = _parse_upper_body(frame)
     if parsed is None:
         return {}
-    torso, left, right, _pelvis_world = parsed
+    _torso, left, right, _pelvis_world = parsed
     yaw_delta = _resolve_yaw_delta(current_yaw - calib.body_yaw_isaac, settings)
     anchor = settings.robot_pelvis_world.astype(np.float64)
     positions: dict[int, np.ndarray] = {int(BodyJoint.PELVIS): anchor.copy()}
@@ -1754,7 +1754,7 @@ def _solve_wrist_target(
     yaw_delta = _resolve_yaw_delta(_compute_torso_yaw(torso) - calib_yaw, settings)
 
     if settings.use_posture_based_arms:
-        shoulder_robot, elbow_robot, wrist_robot = _arm_fk_robot_blended(
+        _shoulder_robot, elbow_robot, wrist_robot = _arm_fk_robot_blended(
             arm, neutral, settings, yaw_delta, is_left
         )
         forearm = wrist_robot - elbow_robot

examples/retargeting/python/wuji_hand_retargeter_demo.py

@@ -54,6 +54,7 @@
 import signal
 import sys
 import time
+from typing import ClassVar
 
 import numpy as np
 
@@ -147,7 +148,7 @@ class _ReplayUnpickler(pickle.Unpickler):
     recording may have been produced elsewhere or shared.
     """
 
-    _ALLOWED = {
+    _ALLOWED: ClassVar[set[tuple[str, str]]] = {
         ("numpy", "ndarray"),
         ("numpy", "dtype"),
         ("numpy.core.multiarray", "_reconstruct"),  # numpy < 2

examples/teleop_session_manager/python/message_channel_example.py

@@ -30,7 +30,9 @@ def _positive_int(value: str) -> int:
     try:
         n = int(value)
     except ValueError:
-        raise argparse.ArgumentTypeError(f"expected a positive integer, got {value!r}")
+        raise argparse.ArgumentTypeError(
+            f"expected a positive integer, got {value!r}"
+        ) from None
     if n <= 0:
         raise argparse.ArgumentTypeError(f"must be a positive integer, got {n}")
     return n
@@ -44,7 +46,7 @@ def _parse_uuid_bytes(uuid_text: str) -> bytes:
         raise argparse.ArgumentTypeError(
             f"--channel-uuid: invalid UUID {uuid_text!r} (expected canonical form, "
             "e.g. 550e8400-e29b-41d4-a716-446655440000)"
-        )
+        ) from None
 
 
 def _enqueue_outbound_message(sink, payload: bytes) -> None:

pyproject.toml

@@ -132,3 +132,72 @@ packages = { isaacteleop = "src/python/isaacteleop" }
 [tool.scikit-build.editable]
 mode = "redirect"
 rebuild = false
+
+# ==============================================================================
+# Ruff
+# ==============================================================================
+# The ruff + ruff-format pre-commit hooks previously ran with no configuration at
+# all, i.e. only ruff's built-in default rules (E4/E7/E9 + F). The `select` below
+# widens that to the correctness-oriented rule groups; formatting stays on
+# ruff-format's defaults (88 cols), which is what the tree is already formatted to.
+#
+# Everything in `select` is currently clean, so the hook is enforceable as-is.
+# Each `ignore` is a deliberate call, not a backlog marker -- see its comment.
+[tool.ruff]
+target-version = "py311"
+
+[tool.ruff.lint]
+select = [
+    "E4", "E7", "E9",  # pycodestyle errors (ruff's default subset)
+    "F",               # pyflakes
+    "B",               # flake8-bugbear -- real bug shapes
+    "C4",              # flake8-comprehensions
+    "PIE",             # flake8-pie
+    "PERF",            # perflint
+    "PLE", "PLW",      # pylint errors + warnings
+    "LOG", "G",        # logging correctness
+    "ASYNC",           # async pitfalls
+    "RUF",             # ruff-specific
+]
+
+ignore = [
+    # Adding strict= to a zip() converts a silent truncation into a runtime
+    # exception, so it is a behaviour change per call site, not a mechanical fix.
+    # Worth adopting deliberately (15 sites) rather than in a lint sweep.
+    "B905",
+    # Style-only rewrites of code that is already correct and readable:
+    # RUF005 turns `a + [b]` into `[*a, b]`, C408 turns dict(a=1) into {"a": 1},
+    # and RUF007 turns zip(x[:-1], x[1:]) into itertools.pairwise(x). Enforcing
+    # any of them means churning working call sites for no behaviour change, so
+    # they are left to author preference.
+    "RUF005", "C408", "RUF007",
+    # Sorting __all__ alphabetically destroys the semantic grouping comments the
+    # package __init__ files use ("# Hand types.", "# Controller types.", ...).
+    "RUF022",
+    # RUF100 is evaluated against `select` above, so it flags every noqa written
+    # for a rule this config does not (yet) enable -- BLE001, PLC0415, N803 and
+    # friends. Re-enable once those groups are adopted.
+    "RUF100",
+    # The tree deliberately uses en/em dashes and arrows in prose and comments.
+    "RUF001", "RUF002", "RUF003",
+    # Module-level singletons (EnvConfig, the CloudXR runtime handles) are an
+    # intentional design choice here.
+    "PLW0603",
+    # Rebinding a loop variable to its normalized form, and small wrapper lambdas,
+    # both read better than the suggested rewrites in the places they occur.
+    "PLW2901", "PLW0108",
+    # The suggested comprehensions inline filtering logic that is clearer as an
+    # explicit loop (see EnvConfig._merge_env).
+    "PERF401", "PERF403",
+    # Targets trio/anyio. The one flagged call is a sub-millisecond os.path.isfile
+    # in an asyncio poll loop that already sleeps between iterations; routing it
+    # through an executor would cost more than the stat it replaces.
+    "ASYNC240",
+    # Flags any async def taking a `timeout` parameter; that is the established
+    # signature for the adb/runtime helpers and their callers.
+    "ASYNC109",
+]
+
+[tool.ruff.lint.per-file-ignores]
+# Tests legitimately assert on private state and re-import inside test bodies.
+"**/tests/**" = ["SLF001"]

scripts/check_copyright_year.py

@@ -30,6 +30,7 @@ def git_last_modified_year(path: Path) -> int | None:
             text=True,
             cwd=path.parent,
             timeout=5,
+            check=False,
         )
         if result.returncode != 0:
             return None
@@ -41,6 +42,7 @@ def git_last_modified_year(path: Path) -> int | None:
             text=True,
             cwd=root,
             timeout=5,
+            check=False,
         )
         if result.returncode != 0 or not result.stdout.strip():
             return None

scripts/check_lfs_pointers.py

@@ -37,6 +37,7 @@ def _staged_content(path: str) -> bytes | None:
     proc = subprocess.run(
         ["git", "show", f":{path}"],
         capture_output=True,
+        check=False,
     )
     if proc.returncode != 0:
         return None

src/core/cloudxr_tests/python/test_runtime.py

@@ -166,7 +166,7 @@ def test_explicit_exp_missing_raises(self, monkeypatch):
             "isaacteleop.cloudxr.runtime._is_exp_available", lambda: False
         )
         with pytest.raises(
-            RuntimeError, match="cloudxr_exp|ENABLE_CLOUDXR_EXP"
+            RuntimeError, match=r"cloudxr_exp|ENABLE_CLOUDXR_EXP"
         ) as excinfo:
             resolve_cloudxr_runtime_module()
         # The message must blame the missing *artifact*: cloudxr_exp is authored
@@ -240,7 +240,7 @@ def test_auto_t234_missing_raises(self, monkeypatch):
         monkeypatch.setattr(
             "isaacteleop.cloudxr.runtime._is_exp_available", lambda: False
         )
-        with pytest.raises(RuntimeError, match="cloudxr_exp|ENABLE_CLOUDXR_EXP"):
+        with pytest.raises(RuntimeError, match=r"cloudxr_exp|ENABLE_CLOUDXR_EXP"):
             resolve_cloudxr_runtime_module()
 
 
@@ -270,7 +270,7 @@ def test_missing_raises(self, tmp_path, monkeypatch):
         self._select(monkeypatch, "isaacteleop.cloudxr")
         _patch_find_spec(monkeypatch, {"isaacteleop.cloudxr": roots})
 
-        with pytest.raises(RuntimeError, match="libcloudxr.so") as excinfo:
+        with pytest.raises(RuntimeError, match=r"libcloudxr\.so") as excinfo:
             get_sdk_path()
         for root in roots:
             assert root in str(excinfo.value)

src/core/retargeting_engine_tests/python/test_base_retargeter.py

@@ -508,7 +508,7 @@ def test_output_selector_repr(self):
 class ParametricScaleRetargeter(BaseRetargeter):
     """Retargeter with a tunable scale parameter."""
 
-    def __init__(self, name: str, config_file: str = None) -> None:
+    def __init__(self, name: str, config_file: str | None = None) -> None:
         # Create parameter with sync function
         parameters = [
             FloatParameter(

src/core/retargeting_engine_tests/python/test_haptic_sink.py

@@ -122,9 +122,10 @@ def test_connect_rejects_mismatched_upstream_type(self) -> None:
         sink = HapticSink("sink", device)
 
         leaf = ValueInput("upstream", TactileVector(5))
-        with pytest.raises(Exception):
-            # Compatibility check raises a TypeError or AssertionError depending
-            # on which TensorType detects the mismatch first; either is fine.
+        # Which exception surfaces depends on which TensorType detects the mismatch
+        # first; NDArrayType currently raises ValueError. Naming the accepted set
+        # beats a bare Exception, which would also swallow an unrelated failure.
+        with pytest.raises((TypeError, AssertionError, ValueError)):
             sink.connect({"left": leaf.output("value")})
 
 

src/core/retargeting_engine_tests/python/test_parameter_state.py

@@ -158,13 +158,12 @@ def test_save_and_load_to_file(self):
     def test_load_nonexistent_file_doesnt_error(self):
         """Test loading from nonexistent file doesn't error."""
         param = FloatParameter(name="value", description="Value", default_value=1.0)
-        try:
-            ParameterState(
-                name="test", parameters=[param], config_file="/nonexistent/path.json"
-            )
-        except Exception as e:
-            # Should not raise error during construction
-            assert False, f"Unexpected exception raised: {e}"
+        # Must not raise during construction; letting any exception propagate
+        # fails the test with the original traceback (and unlike `assert False`,
+        # this still holds under `python -O`).
+        ParameterState(
+            name="test", parameters=[param], config_file="/nonexistent/path.json"
+        )
 
     def test_load_from_file_after_save(self):
         """Test loading from saved file."""

src/core/teleop_session_manager_tests/python/test_teleop_session.py

@@ -603,8 +603,6 @@ def poll_tracker(self, deviceio_session):
 class MockOpenXRHandles:
     """Mock OpenXR session handles."""
 
-    pass
-
 
 class MockOpenXRSession:
     """Mock OpenXR session that supports context manager protocol."""
@@ -985,7 +983,7 @@ def test_external_leaves_missing_all_inputs(self):
         config = make_config(pipeline)
         session = TeleopSession(config)
 
-        with pytest.raises(ValueError, match="external.*non-DeviceIO"):
+        with pytest.raises(ValueError, match=r"external.*non-DeviceIO"):
             session._validate_external_inputs(None)
 
     def test_external_leaves_missing_some_inputs(self):
@@ -1573,7 +1571,7 @@ def test_step_raises_on_missing_external_inputs(self):
         with mock_session_dependencies():
             session = TeleopSession(config)
             with session:
-                with pytest.raises(ValueError, match="external.*non-DeviceIO"):
+                with pytest.raises(ValueError, match=r"external.*non-DeviceIO"):
                     session.step()
 
     def test_step_checks_plugin_health_every_60_frames(self):

src/postprocessing/egocentric_hand_reconstruction/quality_control/detect_jumpy_hand_from_world_results.py

@@ -379,7 +379,7 @@ def _load_track_info_detection_lost(
     for b, s in enumerate(stats):
         # Find vis_mask for this track: track_info has track_id -> {index, vis_mask}; index matches our b
         vis_mask = None
-        for tid, info in tracks.items():
+        for info in tracks.values():
             if info.get("index") == b:
                 vis_mask = info.get("vis_mask")
                 break

src/python/isaacteleop/cloudxr/env_config.py

@@ -13,6 +13,7 @@
 import shlex
 import warnings
 from pathlib import Path
+from typing import ClassVar
 
 
 class EnvConfig:
@@ -43,7 +44,7 @@ class EnvConfig:
     )
 
     # Default env var name -> default value. Empty string or None means "resolve later"
-    _DEFAULT_ENV: dict[str, str | None] = {
+    _DEFAULT_ENV: ClassVar[dict[str, str | None]] = {
         "XR_RUNTIME_JSON": None,  # resolved from openxr_run_dir()
         "NV_CXR_RUNTIME_DIR": None,  # resolved from openxr_run_dir()
         "NV_CXR_OUTPUT_DIR": None,  # resolved from ensure_logs_dir()

src/python/isaacteleop/cloudxr/launcher.py

@@ -589,6 +589,7 @@ def _cleanup_stale_runtime(env_cfg: EnvConfig) -> None:
                     ["fuser", "-k", "-TERM", ipc_socket],
                     capture_output=True,
                     timeout=5,
+                    check=False,
                 )
                 if result.returncode == 0:
                     time.sleep(1)

src/python/isaacteleop/cloudxr/oob_teleop_adb.py

@@ -637,7 +637,9 @@ def open_url_on_headset(url: str) -> tuple[int, str]:
         redact_control_token(" ".join(shlex.quote(c) for c in full)),
     )
     try:
-        proc = subprocess.run(full, capture_output=True, text=True, timeout=30)
+        proc = subprocess.run(
+            full, capture_output=True, text=True, timeout=30, check=False
+        )
     except subprocess.TimeoutExpired as e:
         partial = (
             (e.stderr or e.stdout or b"")

src/python/isaacteleop/haptic_devices/controller.py

@@ -79,9 +79,7 @@ def __init__(
             )
         # Latest-wins per endpoint within a frame; emitted and cleared by flush.
         self._pending: dict[Endpoint, _Pulse] = {}
-        self._error_logged: dict[Endpoint, bool] = {
-            endpoint: False for endpoint in self._endpoints
-        }
+        self._error_logged: dict[Endpoint, bool] = dict.fromkeys(self._endpoints, False)
 
     def accepted_type(self) -> TensorGroupType:
         return ControllerHapticPulse()