pre-commit : run all

.git-blame-ignore-revs

@@ -12,3 +12,6 @@ ccfc8509e21611b504f394b752a2f2a376a83022
 
 # pre-commit run -a (2024-09-04)
 d7c57794672df89734a80c40c0bd3166c7a984c6
+
+# pre-commit run -a (2025-05-21)
+5a1dd0b83cc6aa96cb5f537668d0fafc0a91b00b

bindings/python/pinocchio/robot_wrapper.py

@@ -69,7 +69,7 @@ def initFromMJCF(self, filename, *args, **kwargs):
             model=model,
             collision_model=collision_model,
             visual_model=visual_model,
-            constraint_models=constraint_models
+            constraint_models=constraint_models,
         )
 
     def __init__(

include/pinocchio/algorithm/constrained-dynamics.hpp

@@ -30,8 +30,7 @@ namespace pinocchio
     typename Scalar,
     int Options,
     class ConstraintModel,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class Allocator>
   PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
   inline void initConstraintDynamics(
@@ -81,8 +80,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -139,8 +137,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -165,8 +162,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,

include/pinocchio/algorithm/constraints/constraint-data-base.hpp

@@ -44,7 +44,8 @@ namespace pinocchio
       os << shortname() << endl;
     }
 
-    friend std::ostream & operator<<(std::ostream & os, const ConstraintDataBase<Derived> & constraint)
+    friend std::ostream &
+    operator<<(std::ostream & os, const ConstraintDataBase<Derived> & constraint)
     {
       constraint.disp(os);
       return os;

include/pinocchio/algorithm/constraints/joint-limit-constraint.hpp

@@ -341,7 +341,7 @@ namespace pinocchio
       const ConstraintData & cdata,
       const Eigen::MatrixBase<VectorNLike> & diagonal_constraint_inertia,
       const ReferenceFrameTag<rf> reference_frame) const;
-      
+
     /// \brief Returns the vector of the active indexes associated with a given row
     /// This vector is computed when calling the calc method.
     const VectorOfSize & getActiveSetIndexes() const

include/pinocchio/parsers/sdf/model.hxx

@@ -529,15 +529,15 @@ namespace pinocchio
 
             urdfVisitor << "joint REVOLUTE with axis" << axis.transpose() << '\n';
             urdfVisitor.addJointAndBody(
-              JointType::REVOLUTE, axis, parentFrameId, pMj, jointName, Y, cMj.inverse(),
-              childName, max_effort, max_velocity, min_config, max_config, friction, damping);
+              JointType::REVOLUTE, axis, parentFrameId, pMj, jointName, Y, cMj.inverse(), childName,
+              max_effort, max_velocity, min_config, max_config, friction, damping);
           }
           else if (jointElement->template Get<std::string>("type") == "gearbox")
           {
             urdfVisitor << "joint GEARBOX with axis" << '\n';
             urdfVisitor.addJointAndBody(
-              JointType::REVOLUTE, axis, parentFrameId, pMj, jointName, Y, cMj.inverse(),
-              childName, max_effort, max_velocity, min_config, max_config, friction, damping);
+              JointType::REVOLUTE, axis, parentFrameId, pMj, jointName, Y, cMj.inverse(), childName,
+              max_effort, max_velocity, min_config, max_config, friction, damping);
           }
           else if (jointElement->template Get<std::string>("type") == "prismatic")
           {

unittest/python/bindings_admm.py

@@ -1,12 +1,11 @@
+import importlib.util
 import unittest
 from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
 from test_case import ContactSolverTestCase as TestCase
 
-import importlib.util
-
 coal_spec = importlib.util.find_spec("coal")
 coal_found = coal_spec is not None
 

unittest/python/bindings_bilateral_constraint.py

@@ -1,4 +1,5 @@
 import unittest
+
 import pinocchio as pin
 from test_case import PinocchioTestCase as TestCase
 

unittest/python/bindings_mjcf.py

@@ -1,10 +1,9 @@
+import importlib.util
 import unittest
 from pathlib import Path
 
 import pinocchio as pin
 
-import importlib.util
-
 mujoco_spec = importlib.util.find_spec("mujoco")
 mujoco_found = mujoco_spec is not None
 

unittest/python/bindings_pgs.py

@@ -1,12 +1,11 @@
+import importlib.util
 import unittest
 from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
 from test_case import ContactSolverTestCase as TestCase
 
-import importlib.util
-
 coal_spec = importlib.util.find_spec("coal")
 coal_found = coal_spec is not None
 

unittest/python/test_case.py

@@ -1,11 +1,10 @@
+# ruff: noqa: E501
+import importlib.util
 import unittest
 
-from pinocchio.utils import isapprox
-
-import pinocchio as pin
 import numpy as np
-
-import importlib.util
+import pinocchio as pin
+from pinocchio.utils import isapprox
 
 coal_spec = importlib.util.find_spec("coal")
 coal_found = coal_spec is not None