pre-commit run -a

toolbox_parallel_robots/__init__.py

@@ -1,7 +1,7 @@
 # ruff: noqa: F401
-from .actuation_model import ActuationModel
+from .actuation import mergeq, mergev, qfree, qmot, vfree, vmot
 from .actuation_data import ActuationData
-from .actuation import qfree, qmot, vfree, vmot, mergeq, mergev
+from .actuation_model import ActuationModel
 from .closures import partialLoopClosure, partialLoopClosureFrames
 from .constraints import (
     constraintResidual,
@@ -19,14 +19,14 @@
 from .inverse_kinematics import (
     closedLoopInverseKinematics,
     closedLoopInverseKinematicsCasadi,
-    closedLoopInverseKinematicsScipy,
     closedLoopInverseKinematicsProximal,
+    closedLoopInverseKinematicsScipy,
 )
 from .jacobian import (
-    separateConstraintJacobian,
     computeClosedLoopFrameJacobian,
     computeDerivative_dq_dqmot,
     inverseConstraintKinematicsSpeed,
+    separateConstraintJacobian,
 )
 from .mounting import (
     closedLoopMount,
@@ -35,8 +35,8 @@
     closedLoopMountScipy,
 )
 from .projections import (
+    accelerationProjection,
     configurationProjection,
     configurationProjectionProximal,
     velocityProjection,
-    accelerationProjection,
 )

toolbox_parallel_robots/actuation_data.py

@@ -1,5 +1,5 @@
-import pinocchio as pin
 import numpy as np
+import pinocchio as pin
 
 
 class ActuationData:

toolbox_parallel_robots/closures.py

@@ -6,11 +6,12 @@
 It is used to get configurations that minimizes the pinocchio constraints residuals under joints configurations constraints.
 """
 
-import pinocchio as pin
+from warnings import warn
+
+import casadi
 import numpy as np
+import pinocchio as pin
 from pinocchio import casadi as caspin
-import casadi
-from warnings import warn
 
 from .constraints import constraintsResidual
 

toolbox_parallel_robots/constraints.py

@@ -5,9 +5,9 @@
 Tool functions to compute the constraints residuals from a robot constraint model.
 """
 
-import pinocchio as pin
-import numpy as np
 import casadi
+import numpy as np
+import pinocchio as pin
 
 
 ## Constraints residuals

toolbox_parallel_robots/forward_kinematics.py

@@ -5,21 +5,21 @@
 This module provides tools to perform the forward kinematics of a closed-loop system.
 """
 
-import pinocchio as pin
 import numpy as np
+import pinocchio as pin
 
 try:
-    from pinocchio import casadi as caspin
     import casadi
+    from pinocchio import casadi as caspin
 
     _WITH_CASADI = True
 except ImportError:
     _WITH_CASADI = False
-from scipy.optimize import fmin_slsqp
 from numpy.linalg import norm
+from scipy.optimize import fmin_slsqp
 
-from .constraints import constraintsResidual
 from .actuation import mergeq, mergev
+from .constraints import constraintsResidual
 
 
 def closedLoopForwardKinematicsCasadi(

toolbox_parallel_robots/inverse_dynamics.py

@@ -5,8 +5,8 @@
 This module provides tools to perform the inverse dynamics of a closed-loop system.
 """
 
-import pinocchio as pin
 import numpy as np
+import pinocchio as pin
 from qpsolvers import solve_qp
 
 

toolbox_parallel_robots/inverse_kinematics.py

@@ -5,18 +5,18 @@
 Tools to compute the inverse kinematics of a closed loop system.
 """
 
-import pinocchio as pin
 import numpy as np
+import pinocchio as pin
 
 try:
-    from pinocchio import casadi as caspin
     import casadi
+    from pinocchio import casadi as caspin
 
     _WITH_CASADI = True
 except ImportError:
     _WITH_CASADI = False
-from scipy.optimize import fmin_slsqp
 from numpy.linalg import norm
+from scipy.optimize import fmin_slsqp
 
 from .constraints import constraintsResidual
 
@@ -289,7 +289,7 @@ def closedLoopInverseKinematicsProximal(
     for cm in constraint_model:
         constraint_dim += cm.size()
 
-    y = np.ones((constraint_dim))
+    y = np.ones(constraint_dim)
     data.M = np.eye(model.nv) * rho
     kkt_constraint = pin.ContactCholeskyDecomposition(model, constraint_model)
 

toolbox_parallel_robots/jacobian.py

@@ -6,8 +6,8 @@
 
 """
 
-import pinocchio as pin
 import numpy as np
+import pinocchio as pin
 
 
 def separateConstraintJacobian(actuation_data, Jn):

toolbox_parallel_robots/mounting.py

@@ -6,18 +6,18 @@
 Contains three methods to solve this problem, methode selection is done by setting global variables or through imports
 """
 
-import pinocchio as pin
 import numpy as np
+import pinocchio as pin
 
 try:
-    from pinocchio import casadi as caspin
     import casadi
+    from pinocchio import casadi as caspin
 
     _WITH_CASADI = True
 except ImportError:
     _WITH_CASADI = False
-from scipy.optimize import fmin_slsqp
 from numpy.linalg import norm
+from scipy.optimize import fmin_slsqp
 
 from .constraints import constraintsResidual
 
@@ -229,7 +229,7 @@ def closedLoopMountProximal(
     for cm in cmodels:
         constraint_dim += cm.size()
 
-    y = np.ones((constraint_dim))
+    y = np.ones(constraint_dim)
     rdata.M = np.eye(rmodel.nv) * rho
     kkt_constraint = pin.ContactCholeskyDecomposition(rmodel, cmodels)
 

toolbox_parallel_robots/projections.py

@@ -6,10 +6,10 @@
 Contains three methods to solve this problem, methode selection is done by setting global variables or through imports
 """
 
-import pinocchio as pin
+import casadi
 import numpy as np
+import pinocchio as pin
 from pinocchio import casadi as caspin
-import casadi
 from qpsolvers import solve_qp
 
 from .constraints import constraintsResidual
@@ -72,7 +72,7 @@ def configurationProjectionProximal(
     for cm in cmodels:
         constraint_dim += cm.size()
 
-    y = np.ones((constraint_dim))
+    y = np.ones(constraint_dim)
     rdata.M = np.eye(rmodel.nv) * rho
     kkt_constraint = pin.ContactCholeskyDecomposition(rmodel, cmodels)
 

toolbox_parallel_robots/sliders/foo.py

@@ -6,8 +6,9 @@
 
 """
 
-import meshcat
 import tkinter as tk
+
+import meshcat
 import pinocchio as pin
 from toolbox_parallel_robots.tk_robot_sliders import SlidersFrame
 from toolbox_parallel_robots.tk_sliders_manager import SlidersManager
@@ -71,9 +72,9 @@ def createSlidersInterface(
     # constraint_models = []
     # mot_ids_q = [model.getJointId(joint_name) for joint_name in ["FL_HAA", "FL_HFE", "FL_KFE", "FR_HAA", "FR_HFE", "FR_KFE", "HL_HAA", "HL_HFE", "HL_KFE", "HR_HAA", "HR_HFE", "HR_KFE"]]
     # * Create the visualizer
+    import meshcat
     import pinocchio as pin
     from pinocchio.visualize import MeshcatVisualizer
-    import meshcat
 
     viz = MeshcatVisualizer(model, collision_model, visual_model)
     viz.viewer = meshcat.Visualizer(zmq_url="tcp://127.0.0.1:6000")

toolbox_parallel_robots/sliders/tk_robot_sliders.py

@@ -1,7 +1,8 @@
 import tkinter as tk
+from functools import partial
+
 import numpy as np
 import pinocchio as pin
-from functools import partial
 
 
 class SlidersFrame:

toolbox_parallel_robots/sliders/util_frames.py

@@ -1,5 +1,5 @@
-import pinocchio as pin
 import hppfcl
+import pinocchio as pin
 
 
 def addXYZAxisToFrames(rm, vm, basename="XYZ", scale=1, world=False):