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Merge pull request #2418 from nim65s/ruff
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modernize python code base, part 2
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jcarpent authored Sep 22, 2024
2 parents 3b0e541 + 4c2513c commit 500e6a9
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2 changes: 1 addition & 1 deletion .github/workflows/scripts/get_label.js
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ module.exports = async ({github, context, core}) => {
' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
' -DINSTALL_DOCUMENTATION=ON',
' -DGENERATE_PYTHON_STUBS=ON',
' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF'
],
build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON',
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4 changes: 4 additions & 0 deletions CHANGELOG.md
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
- Fix unit tests with GCC 13.3 ([#2406](https://github.com/stack-of-tasks/pinocchio/pull/2416)
- Fix class abtract error for Rviz viewer ([#2425](https://github.com/stack-of-tasks/pinocchio/pull/2425))

### Changed

- Modernize python code base with ruff ([#2418](https://github.com/stack-of-tasks/pinocchio/pull/2418))

## [3.2.0] - 2024-08-27

### Fixed
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5 changes: 2 additions & 3 deletions bindings/python/pinocchio/deprecated.py
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,5 @@
# Copyright (c) 2018-2023 CNRS INRIA
#

## In this file, are reported some deprecated functions that are still maintained until the next important future releases ##

from __future__ import print_function
## In this file, are reported some deprecated functions
# that are still maintained until the next important future releases
4 changes: 1 addition & 3 deletions bindings/python/pinocchio/deprecation.py
Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,7 @@ def decorator(func):

@functools.wraps(func)
def wrapper(*args, **kwargs):
message = "Call to deprecated function {}. {}".format(
func.__name__, instructions
)
message = f"Call to deprecated function {func.__name__}. {instructions}"

warnings.warn(message, category=DeprecatedWarning, stacklevel=2)

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29 changes: 16 additions & 13 deletions bindings/python/pinocchio/derivative/dcrba.py
Original file line number Diff line number Diff line change
Expand Up @@ -2,19 +2,14 @@
# Copyright (c) 2016 CNRS
#

from __future__ import print_function

import lambdas
import numpy as np
import pinocchio as pin
from numpy.linalg import norm
from pinocchio.robot_wrapper import RobotWrapper
from pinocchio.utils import rand

import lambdas
from lambdas import (
FCross,
Mcross,
MCross,
Mcross,
adj,
adjdual,
ancestors,
Expand All @@ -23,6 +18,9 @@
quad,
td,
)
from numpy.linalg import norm
from pinocchio.robot_wrapper import RobotWrapper
from pinocchio.utils import rand


def hessian(robot, q, crossterms=False):
Expand Down Expand Up @@ -111,9 +109,12 @@ def __call__(self):
T_jSd = np.array(H[:, d, j0:j1]) # this is 0 is d<=j

"""
assert( norm(T_iSd)<1e-6 or not joint_diff<i ) # d<i => TiSd=0
assert( norm(T_jSd)<1e-6 or not joint_diff<j ) # d<j => TjSd=0
assert( norm(T_jSd)<1e-6 or not norm(T_iSd)<1e-6 ) # TiSd=0 => TjSd=0
# d<i => TiSd=0
assert( norm(T_iSd)<1e-6 or not joint_diff<i )
# d<j => TjSd=0
assert( norm(T_jSd)<1e-6 or not joint_diff<j )
# TiSd=0 => TjSd=0
assert( norm(T_jSd)<1e-6 or not norm(T_iSd)<1e-6 )
assert( norm(T_iSd)>1e-6 )
"""

Expand All @@ -123,7 +124,8 @@ def __call__(self):
if j < joint_diff:
dM[i0:i1, j0:j1, d] += Si.T * Yd * T_jSd

# Make dM triangular by copying strict-upper triangle to lower one.
# Make dM triangular by copying strict-upper triangle to lower
# one.
if i != j:
dM[j0:j1, i0:i1, d] = dM[i0:i1, j0:j1, d].T
else:
Expand Down Expand Up @@ -203,7 +205,8 @@ def __call__(self, q):
H[:, k0:k1, j0:j1], YJ[:, i0:i1], [0, 0]
)

# Fill the border elements of levels below k Q[kk,k,:] and Q[kk,:,k] with kk<k
# Fill the border elements of levels below k
# Q[kk,k,:] and Q[kk,:,k] with kk<k
for kk in ancestors(k)[:-1]:
kk0, kk1 = iv(kk)[0], iv(kk)[-1] + 1
_Skk = J[:, kk0:kk1]
Expand Down Expand Up @@ -377,7 +380,7 @@ def adjf(f):
Tkf = Yci * (-MCross(Sk, a[lk]) + MCross(MCross(Sk, v[lk]), v[lk]))

# Tk Si' fs = Tk Si' Ycrb[i] ai + Si' Ys (vs-vi) x (Sk x vlk)
# = "" + Si' Ys vs x (Sk x vlk) - Si' Ys vi x (Sk x vlk)
# = "" + Si' Ys vs x (Sk x vlk) - Si' Ys vi x (Sk x vlk) # noqa E501
Tkf += Yvx[i] * MCross(Sk, v[lk])

R[i0:i1, k0:k1] = Si.T * Tkf
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20 changes: 9 additions & 11 deletions bindings/python/pinocchio/derivative/lambdas.py
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
# ruff: noqa: E731

import numpy as np
from pinocchio import Motion, Force, skew
from pinocchio import Force, Motion, skew
from pinocchio.utils import zero


Expand All @@ -25,16 +25,13 @@ def jFromIdx(idxv, robot):
robot.model.joints[i].idx_v + robot.model.joints[i].nv,
)
)
ancestors = (
lambda j, robot, res=[]: res
ancestors = lambda j, robot, res=[]: (
res
if j == 0
else ancestors(
robot.model.parents[j],
robot,
[
j,
]
+ res,
[j, *res],
)
)

Expand All @@ -53,12 +50,13 @@ def __contains__(self, anc):
dec = self.robot.model.parents[dec]


# descendants = lambda root,robot: filter( lambda i: root in ancestorOf(i,robot), range(root,robot.model.njoints) )
# descendants = lambda root,robot: filter(
# lambda i: root in ancestorOf(i,robot), range(root,robot.model.njoints) )
descendants = lambda root, robot: robot.model.subtrees[root]


def setRobotArgs(robot):
ancestors.__defaults__ = (robot,) + ancestors.__defaults__
ancestors.__defaults__ = (robot, *ancestors.__defaults__)
descendants.__defaults__ = (robot,)
# ancestorsOf.__init__.__defaults__ = (robot,)
iv.__defaults__ = (robot,)
Expand Down Expand Up @@ -91,7 +89,7 @@ def setRobotArgs(robot):


def np_prettyprint(sarg="{: 0.5f}", eps=5e-7):
mformat = (
lambda x, sarg=sarg, eps=eps: sarg.format(x) if abs(x) > eps else " 0. "
mformat = lambda x, sarg=sarg, eps=eps: (
sarg.format(x) if abs(x) > eps else " 0. "
)
np.set_printoptions(formatter={"float": mformat})
3 changes: 1 addition & 2 deletions bindings/python/pinocchio/derivative/xm.py
Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,11 @@

import numpy as np
import pinocchio as pin
from dcrba import DCRBA, DRNEA, Coriolis
from numpy.linalg import norm
from pinocchio.robot_wrapper import RobotWrapper
from pinocchio.utils import rand

from dcrba import DCRBA, DRNEA, Coriolis

np.random.seed(0)

robot = RobotWrapper(
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31 changes: 21 additions & 10 deletions bindings/python/pinocchio/robot_wrapper.py
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
)


class RobotWrapper(object):
class RobotWrapper:
@staticmethod
def BuildFromURDF(
filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None
Expand Down Expand Up @@ -160,13 +160,16 @@ def centroidalMomentum(self, q, v):

def centroidalMap(self, q):
"""
Computes the centroidal momentum matrix which maps from the joint velocity vector to the centroidal momentum expressed around the center of mass.
Computes the centroidal momentum matrix which maps from the joint velocity
vector to the centroidal momentum expressed around the center of mass.
"""
return pin.computeCentroidalMap(self.model, self.data, q)

def centroidal(self, q, v):
"""
Computes all the quantities related to the centroidal dynamics (hg, Ag and Ig), corresponding to the centroidal momentum, the centroidal map and the centroidal rigid inertia.
Computes all the quantities related to the centroidal dynamics (hg, Ag and Ig),
corresponding to the centroidal momentum, the centroidal map and the centroidal
rigid inertia.
"""
pin.ccrba(self.model, self.data, q, v)
return (self.data.hg, self.data.Ag, self.data.Ig)
Expand Down Expand Up @@ -350,15 +353,16 @@ def buildReducedRobot(self, list_of_joints_to_lock, reference_configuration=None

def getFrameJacobian(self, frame_id, rf_frame=pin.ReferenceFrame.LOCAL):
"""
It computes the Jacobian of frame given by its id (frame_id) either expressed in the
local coordinate frame or in the world coordinate frame.
It computes the Jacobian of frame given by its id (frame_id) either expressed in
the local coordinate frame or in the world coordinate frame.
"""
return pin.getFrameJacobian(self.model, self.data, frame_id, rf_frame)

def computeFrameJacobian(self, q, frame_id):
"""
Similar to getFrameJacobian but does not need pin.computeJointJacobians and
pin.updateFramePlacements to update internal value of self.data related to frames.
pin.updateFramePlacements to update internal value of self.data related to
frames.
"""
return pin.computeFrameJacobian(self.model, self.data, q, frame_id)

Expand Down Expand Up @@ -396,8 +400,10 @@ def viewer(self):
return self.viz.viewer

def setVisualizer(self, visualizer, init=True, copy_models=False):
"""Set the visualizer. If init is True, the visualizer is initialized with this wrapper's models.
If copy_models is also True, the models are copied. Otherwise, they are simply kept as a reference.
"""
Set the visualizer. If init is True, the visualizer is initialized with this
wrapper's models. If copy_models is also True, the models are copied.
Otherwise, they are simply kept as a reference.
"""
if init:
visualizer.__init__(
Expand All @@ -406,7 +412,10 @@ def setVisualizer(self, visualizer, init=True, copy_models=False):
self.viz = visualizer

def getViewerNodeName(self, geometry_object, geometry_type):
"""For each geometry object, returns the corresponding name of the node in the display."""
"""
For each geometry object, returns the corresponding name of the node in the
display.
"""
return self.viz.getViewerNodeName(geometry_object, geometry_type)

def initViewer(self, share_data=True, *args, **kwargs):
Expand Down Expand Up @@ -437,7 +446,9 @@ def loadViewerModel(self, *args, **kwargs):
self.viz.loadViewerModel(*args, **kwargs)

def display(self, q):
"""Display the robot at configuration q in the viewer by placing all the bodies."""
"""
Display the robot at configuration q in the viewer by placing all the bodies.
"""
self.viz.display(q)

def displayCollisions(self, visibility):
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4 changes: 3 additions & 1 deletion bindings/python/pinocchio/romeo_wrapper.py
Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,9 @@ def __init__(self, filename, package_dirs=None, verbose=False):

for op, name in self.opCorrespondances.items():
self.__dict__[op] = self.index(name)
# self.__dict__['_M'+op] = types.MethodType(lambda s, q: s.position(q,idx),self)
# self.__dict__["_M" + op] = types.MethodType(
# lambda s, q: s.position(q, idx), self
# )

# --- SHORTCUTS ---
def Mrh(self, q):
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18 changes: 12 additions & 6 deletions bindings/python/pinocchio/shortcuts.py
Original file line number Diff line number Diff line change
@@ -1,13 +1,15 @@
# ruff: noqa: E501
#
# Copyright (c) 2018-2020 CNRS INRIA
#

## In this file, some shortcuts are provided ##

from . import pinocchio_pywrap_default as pin
from . import WITH_HPP_FCL, WITH_HPP_FCL_BINDINGS
from typing import Tuple

from . import WITH_HPP_FCL, WITH_HPP_FCL_BINDINGS
from . import pinocchio_pywrap_default as pin

nle = pin.nonLinearEffects


Expand Down Expand Up @@ -77,8 +79,10 @@ def buildModelsFromUrdf(


def createDatas(*models):
"""Call createData() on each Model or GeometryModel in input and return the results in a tuple.
If one of the models is None, the corresponding data object in the result is also None.
"""
Call createData() on each Model or GeometryModel in input and return the results in
a tuple. If one of the models is None, the corresponding data object in the result
is also None.
"""
return tuple([None if model is None else model.createData() for model in models])

Expand Down Expand Up @@ -120,7 +124,8 @@ def buildModelsFromSdf(
)
if verbose and not WITH_HPP_FCL_BINDINGS and meshLoader is not None:
print(
"Info: MeshLoader is ignored. The HPP-FCL Python bindings have not been installed."
"Info: MeshLoader is ignored. "
"The HPP-FCL Python bindings have not been installed."
)
if package_dirs is None:
package_dirs = []
Expand Down Expand Up @@ -173,7 +178,8 @@ def buildModelsFromMJCF(
)
if verbose and not WITH_HPP_FCL_BINDINGS and meshLoader is not None:
print(
"Info: MeshLoader is ignored. The HPP-FCL Python bindings have not been installed."
"Info: MeshLoader is ignored. "
"The HPP-FCL Python bindings have not been installed."
)

lst = [model]
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2 changes: 1 addition & 1 deletion bindings/python/pinocchio/utils.py
Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ def mprint(M, name="ans", eps=1e-15):
cmin = i * 6
cmax = (i + 1) * 6
cmax = ncol if ncol < cmax else cmax
print("Columns %s through %s" % (cmin, cmax - 1))
print(f"Columns {cmin} through {cmax - 1}")
print()
for r in range(M.shape[0]):
sys.stdout.write(" ")
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