ruff fixes

bindings/python/tsid/__init__.py

@@ -1 +1 @@
-from .tsid_pywrap import *
+from .tsid_pywrap import *  # noqa: F403

demo/demo_quadruped.py

@@ -4,15 +4,16 @@
 import time
 
 import gepetto.corbaserver
+import matplotlib.pyplot as plt
 import numpy as np
 import pinocchio as pin
-import tsid
+import plot_utils as plut
 from numpy import nan
 from numpy.linalg import norm as norm
 
+import tsid
+
 sys.path += [os.getcwd() + "/../exercizes"]
-import matplotlib.pyplot as plt
-import plot_utils as plut
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 
@@ -57,8 +58,8 @@
     ],
     pin.JointModelFreeFlyer(),
 )
-l = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")
-if int(l[1]) == 0:
+n = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")
+if int(n[1]) == 0:
     os.system("gepetto-gui &")
 time.sleep(1)
 cl = gepetto.corbaserver.Client()

exercizes/ex_0_ur5_joint_space_control.py

@@ -7,11 +7,12 @@
 import numpy as np
 import pinocchio as pin
 import plot_utils as plut
-import tsid
 import ur5_conf as conf
 from numpy import nan
 from numpy.linalg import norm as norm
 
+import tsid
+
 print("".center(conf.LINE_WIDTH, "#"))
 print(" Joint Space Inverse Dynamics - Manipulator ".center(conf.LINE_WIDTH, "#"))
 print("".center(conf.LINE_WIDTH, "#"), "\n")
@@ -54,8 +55,8 @@
             conf.path,
         ],
     )
-    l = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")
-    if int(l[1]) == 0:
+    n = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")
+    if int(n[1]) == 0:
         os.system("gepetto-gui &")
     time.sleep(1)
     gepetto.corbaserver.Client()

exercizes/ex_2.py

@@ -2,7 +2,6 @@
 
 import matplotlib.pyplot as plt
 import numpy as np
-import pinocchio as pin
 import plot_utils as plut
 import romeo_conf as conf
 from numpy import nan

exercizes/ex_3_biped_balance_with_gui.py

@@ -56,7 +56,7 @@ def __init__(self, master, name):
     def get(self):
         try:
             return [float(self.s[i].get()) for i in range(3)]
-        except:
+        except ValueError:
             print(
                 "could not convert string to float", [self.s[i].get() for i in range(3)]
             )

exercizes/ex_4_plan_LIPM_romeo.py

@@ -35,7 +35,8 @@
 
 import ex_4_conf as conf
 import matplotlib.pyplot as plt
-from plot_utils import *
+
+# from plot_utils import *
 
 # import ex_4_long_conf as conf
 
@@ -155,7 +156,6 @@
 plot_utils.plot_xy(
     time, N, foot_length, foot_width, cop_ref, cop_x, cop_y, com_state_x, com_state_y
 )
-import matplotlib.pyplot as plt
 
 plt.gca().set_xlim([cop_ref[0, 0] - 0.2, cop_ref[-1, 0] + 0.2])
 plt.gca().set_ylim([cop_ref[0, 1] - 0.2, cop_ref[-1, 1] + 0.2])

exercizes/plot_utils.py

@@ -66,7 +66,7 @@
 
 def create_empty_figure(nRows=1, nCols=1, figsize=(7, 7), spinesPos=None, sharex=True):
     f, ax = plt.subplots(nRows, nCols, figsize=figsize, sharex=sharex)
-    mngr = plt.get_current_fig_manager()
+    _mngr = plt.get_current_fig_manager()
     # mngr.window.setGeometry(50,50,1080,720)
 
     if spinesPos is not None:
@@ -307,7 +307,7 @@ def plotNdQuantityPerSolver(
         ax[nRows // 2, 0].set_ylabel(title)
     if SHOW_LEGENDS:
         # leg = ax[0,0].legend(bbox_to_anchor=(0., 1.02, 1., .102), loc=3, ncol=2, mode="expand", borderaxespad=0.)
-        leg = ax[0, 0].legend(loc="best")
+        _leg = ax[0, 0].legend(loc="best")
         # leg.get_frame().set_alpha(LEGEND_ALPHA)
     return ax
 

exercizes/tsid_biped.py

@@ -4,6 +4,7 @@
 
 import numpy as np
 import pinocchio as pin
+
 import tsid
 
 
@@ -176,8 +177,6 @@ def __init__(self, conf, viewer=pin.visualize.MeshcatVisualizer):
                 conf.urdf, [conf.path], pin.JointModelFreeFlyer()
             )
             if viewer == pin.visualize.GepettoVisualizer:
-                import gepetto.corbaserver
-
                 launched = subprocess.getstatusoutput(
                     "ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l"
                 )

exercizes/tsid_manipulator.py

@@ -4,8 +4,8 @@
 
 import gepetto.corbaserver
 import numpy as np
-import numpy.matlib as matlib
 import pinocchio as se3
+
 import tsid
 
 
@@ -23,13 +23,13 @@ def __init__(self, conf, viewer=True):
         robot = self.robot
         self.model = model = robot.model()
         try:
-            #            q = se3.getNeutralConfiguration(model, conf.srdf, False)
+            # q = se3.getNeutralConfiguration(model, conf.srdf, False)
             se3.loadReferenceConfigurations(model, conf.srdf, False)
             q = model.referenceConfigurations["default"]
-        #        q = model.referenceConfigurations["half_sitting"]
-        except:
+            # q = model.referenceConfigurations["half_sitting"]
+        except Exception:
             q = conf.q0
-        #            q = np.array(np.zeros(robot.nv)).T
+            # q = np.array(np.zeros(robot.nv)).T
         v = np.zeros(robot.nv)
 
         assert model.existFrame(conf.ee_frame_name)
@@ -93,10 +93,10 @@ def __init__(self, conf, viewer=True):
                     conf.path,
                 ],
             )
-            l = subprocess.getstatusoutput(
+            n = subprocess.getstatusoutput(
                 "ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l"
             )
-            if int(l[1]) == 0:
+            if int(n[1]) == 0:
                 os.system("gepetto-gui &")
             time.sleep(1)
             gepetto.corbaserver.Client()

exercizes/ur5_conf.py

@@ -5,9 +5,10 @@
 @author: student
 """
 
-import os
+from os.path import join
 
 import numpy as np
+from example_robot_data.robots_loader import getModelPath
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 LINE_WIDTH = 60
@@ -53,9 +54,6 @@
 EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)
 EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)
 
-from os.path import join
-
-from example_robot_data.robots_loader import getModelPath
 
 urdf = "ur_description/urdf/ur5_robot.urdf"
 path = getModelPath(urdf)

exercizes/ur5_reaching_conf.py

@@ -5,9 +5,10 @@
 @author: student
 """
 
-import os
+from os.path import join
 
 import numpy as np
+from example_robot_data.robots_loader import getModelPath
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 LINE_WIDTH = 60
@@ -53,9 +54,6 @@
 EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)
 EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)
 
-from os.path import join
-
-from example_robot_data.robots_loader import getModelPath
 
 urdf = "ur_description/urdf/ur5_robot.urdf"
 path = getModelPath(urdf)

tests/python/test_Constraint.py

@@ -1,5 +1,5 @@
 import numpy as np
-import pinocchio as se3
+
 import tsid
 
 print("")

tests/python/test_Contact.py

@@ -1,15 +1,15 @@
-import copy
+import os
 
 import numpy as np
 import pinocchio as se3
+
 import tsid
 
 print("")
 print("Test Contact")
 print("")
 
 tol = 1e-5
-import os
 
 filename = str(os.path.dirname(os.path.abspath(__file__)))
 path = filename + "/../models/romeo"

tests/python/test_ContactPoint.py

@@ -1,8 +1,8 @@
-import copy
 import os
 
 import numpy as np
 import pinocchio as se3
+
 import tsid
 
 print("")

tests/python/test_Gravity.py

@@ -1,7 +1,7 @@
 import os
 
-import numpy as np
 import pinocchio as se3
+
 import tsid
 
 print("")

tests/python/test_Tasks.py

@@ -2,9 +2,13 @@
 
 import numpy as np
 import pinocchio as pin
-import tsid
+
+# Get robot model generator module
+from generator import create_7dof_arm
 from numpy.linalg import norm
 
+import tsid
+
 print("")
 print("Test Task COM")
 print("")
@@ -278,8 +282,6 @@
 print("Test Task Joint Posture (Uncommon joints)")
 print("")
 
-# Get robot model generator module
-from generator import create_7dof_arm
 
 # Get robot model
 (