Fix identity comparisons with literals and mutable default arguments#1350
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dhruvildarji wants to merge 1 commit intoAtsushiSakai:masterfrom
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Fix identity comparisons with literals and mutable default arguments#1350dhruvildarji wants to merge 1 commit intoAtsushiSakai:masterfrom
dhruvildarji wants to merge 1 commit intoAtsushiSakai:masterfrom
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Replace `is`/`is not` comparisons with non-None literals (`==`/`!=`/`not`) to fix SyntaxWarning in Python 3.12+ (related to AtsushiSakai#1291). Also replace mutable default arguments (lists) with None or tuples to prevent shared state bugs. Identity comparisons fixed: - `is not self.n_links` (integer) in 3 arm navigation files - `state is WAIT_FOR_NEW_GOAL` (integer) in n_joint_arm_to_point_control.py - `path_found is False` (bool literal) in probabilistic_road_map.py - `flag is inside` (bool) in grid_map_lib.py Mutable default arguments fixed: - `obstacles=[]` -> `obstacles=None` in arm_obstacle_navigation.py and _2.py - `start_vel=[0,0,0]` etc. -> tuples in TrajectoryGenerator.py - `obstacle_avoid_points=[]` -> `None` in GridWithDynamicObstacles.py - Removed mutable class-level list defaults in Grid class
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Summary
is/is notcomparisons with non-None literals to use==/!=/notinstead, fixingSyntaxWarningin Python 3.12+ (these will becomeSyntaxErrorin a future Python version)Noneor tuples to prevent shared-state bugsChanges
Identity comparisons fixed (9 instances across 6 files)
Using
is/is notto compare with integers, booleans, or other non-singleton literals is deprecated in Python 3.12+ and emitsSyntaxWarning. This is relevant to #1291 (Python 3.14 support).NLinkArm.py,arm_obstacle_navigation.py,arm_obstacle_navigation_2.pyi is not self.n_links->i != self.n_links(integer comparison)n_joint_arm_to_point_control.pystate is WAIT_FOR_NEW_GOAL/state is MOVING_TO_GOAL->==(integer comparison)probabilistic_road_map.pypath_found is False->not path_foundgrid_map_lib.pyflag is inside->flag == inside(boolean comparison)Mutable default arguments fixed (4 files)
Mutable default arguments are a well-known Python pitfall -- the default object is shared across all calls, so mutations persist unexpectedly.
arm_obstacle_navigation.py,arm_obstacle_navigation_2.pyobstacles=[]->obstacles=Nonewith guardTrajectoryGenerator.pystart_vel=[0,0,0]etc. -> tuples(0,0,0)(immutable, only indexed)GridWithDynamicObstacles.pyobstacle_avoid_points=[]->Nonewith guard; removed mutable class-level list defaultsTest plan
-Werrorflag used in CI test runner