[Python] flake8

Author: nim65s

src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py

@@ -3,25 +3,25 @@
 
 from __future__ import print_function
 
-from functools import reduce
+import sys
 
+import pinocchio
 from dynamic_graph import plug
 from dynamic_graph.sot.core.derivator import Derivator_of_Vector
 from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
 from dynamic_graph.sot.core.robot_simu import RobotSimu
-from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
 from dynamic_graph.tools import addTrace
 from dynamic_graph.tracer_real_time import TracerRealTime
 
-import pinocchio, sys
-
 if sys.version_info.major == 2:
     from abc import ABCMeta, abstractmethod
+
     class ABC:
         __metaclass__ = ABCMeta
 else:
     from abc import ABC, abstractmethod
 
+
 class AbstractRobot(ABC):
     """
     This class instantiates all the entities required to get a consistent
@@ -147,7 +147,7 @@ def _removeMimicJoints(self, urdfFile=None, urdfString=None):
                         mimicJoints.append(name)
         self.removeJoints(mimicJoints)
 
-    def removeJoints (self, joints):
+    def removeJoints(self, joints):
         """
         - param joints: a list of joint names to be removed from the self.pinocchioModel
         """
@@ -160,8 +160,7 @@ def removeJoints (self, joints):
             self.pinocchioModel = pinocchio.buildReducedModel(self.pinocchioModel, jointIds, q)
             self.pinocchioData = pinocchio.Data(self.pinocchioModel)
 
-    def loadModelFromString (self, urdfString, rootJointType=pinocchio.JointModelFreeFlyer,
-            removeMimicJoints=True):
+    def loadModelFromString(self, urdfString, rootJointType=pinocchio.JointModelFreeFlyer, removeMimicJoints=True):
         """ Load a URDF model contained in a string
         - param rootJointType: the root joint type. None for no root joint.
         - param removeMimicJoints: if True, all the mimic joints found in the model are removed.
@@ -174,8 +173,11 @@ def loadModelFromString (self, urdfString, rootJointType=pinocchio.JointModelFre
         if removeMimicJoints:
             self._removeMimicJoints(urdfString=urdfString)
 
-    def loadModelFromUrdf(self, urdfPath, urdfDir=None, rootJointType=pinocchio.JointModelFreeFlyer,
-            removeMimicJoints=True):
+    def loadModelFromUrdf(self,
+                          urdfPath,
+                          urdfDir=None,
+                          rootJointType=pinocchio.JointModelFreeFlyer,
+                          removeMimicJoints=True):
         """
         Load a model using the pinocchio urdf parser. This parser looks
         for urdf files in which kinematics and dynamics information
@@ -185,10 +187,10 @@ def loadModelFromUrdf(self, urdfPath, urdfDir=None, rootJointType=pinocchio.Join
         """
         if urdfPath.startswith("package://"):
             from os import path
-            n1 = 10 # len("package://")
+            n1 = 10  # len("package://")
             n2 = urdfPath.index(path.sep, n1)
             pkg = urdfPath[n1:n2]
-            relpath = urdfPath[n2+1:]
+            relpath = urdfPath[n2 + 1:]
 
             import rospkg
             rospack = rospkg.RosPack()
@@ -233,7 +235,7 @@ def setJointValueInConfig(self, q, jointNames, jointValues):
             q[joint.idx_q] = jv
 
     @abstractmethod
-    def defineHalfSitting (self, q):
+    def defineHalfSitting(self, q):
         """
         Define half sitting configuration using the pinocchio Model (i.e.
         with quaternions and not with euler angles).
@@ -256,7 +258,7 @@ def initializeRobot(self):
             raise RuntimeError("Dynamic robot model must be initialized first")
 
         if not hasattr(self, 'device') or self.device is None:
-            #raise RuntimeError("A device is already defined.")
+            # raise RuntimeError("A device is already defined.")
             self.device = RobotSimu(self.name + '_device')
         self.device.resize(self.dynamic.getDimension())
         """
@@ -271,13 +273,16 @@ def initializeRobot(self):
         """
         self.halfSitting = numpy.asarray(pinocchio.neutral(self.pinocchioModel)).flatten().tolist()
         self.defineHalfSitting(self.halfSitting)
-        self.halfSitting[3:7] = [0., 0., 0.] # Replace quaternion by RPY.
+        self.halfSitting[3:7] = [0., 0., 0.]  # Replace quaternion by RPY.
 
         # Set the device limits.
         def get(s):
             s.recompute(0)
             return s.value
-        def opposite(v): return [ -x for x in v ]
+
+        def opposite(v):
+            return [-x for x in v]
+
         self.device.setPositionBounds(get(self.dynamic.lowerJl), get(self.dynamic.upperJl))
         self.device.setVelocityBounds(opposite(get(self.dynamic.upperVl)), get(self.dynamic.upperVl))
         self.device.setTorqueBounds(opposite(get(self.dynamic.upperTl)), get(self.dynamic.upperTl))
@@ -394,6 +399,7 @@ def reset(self, posture=None):
             self.dynamic.signal(self.OperationalPointsMap[op]).recompute(self.device.state.time + 1)
             self.dynamic.signal('J' + self.OperationalPointsMap[op]).recompute(self.device.state.time + 1)
 
+
 class AbstractHumanoidRobot(AbstractRobot):
     def __init__(self, name, tracer=None):
         AbstractRobot.__init__(self, name, tracer)

tests/python/feet_follower.py

@@ -2,11 +2,12 @@
 # -*- coding: utf-8 -*-
 # Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
 import os
-print(os.environ)
 
 from dynamic_graph.sot.dynamic_pinocchio.feet_follower import FeetFollowerFromFile
 from dynamic_graph.sot.dynamic_pinocchio.tools import checkFinalConfiguration, clt, plug, robot, solver, timeStep
 
+print(os.environ)
+
 feetFollower = FeetFollowerFromFile('feet-follower')
 
 feetFollower.feetToAnkleLeft = robot.dynamic.getAnklePositionInFootFrame()

tests/python/humanoid_robot.py

@@ -6,9 +6,9 @@
 
 from dynamic_graph.sot.dynamic_pinocchio.humanoid_robot import AbstractHumanoidRobot
 
-class Robot (AbstractHumanoidRobot):
-    def __init__ (self, name, urdfString=None, urdfFile=None):
-        import pinocchio
+
+class Robot(AbstractHumanoidRobot):
+    def __init__(self, name, urdfString=None, urdfFile=None):
         if urdfString is not None:
             self.loadModelFromString(urdfString)
         elif urdfFile is not None:
@@ -18,7 +18,7 @@ def __init__ (self, name, urdfString=None, urdfFile=None):
 
         AbstractHumanoidRobot.__init__(self, name, None)
 
-    def defineHalfSitting (self, q):
+    def defineHalfSitting(self, q):
         pass
 
 
@@ -29,18 +29,19 @@ def setUp(self):
         self.r2d2_urdf_file = os.path.join(dir_path, "r2d2.urdf")
 
     def test_non_instanciable_robot(self):
-        class NonInstanciableRobot (AbstractHumanoidRobot):
+        class NonInstanciableRobot(AbstractHumanoidRobot):
             pass
+
         self.assertRaises(TypeError, NonInstanciableRobot, "non_instanciable_robot")
 
     def test_build_robot_from_string(self):
 
         with open(self.r2d2_urdf_file, 'r') as urdf:
             urdfString = urdf.read()
-        robot = Robot("test_build_robot_from_string", urdfString = urdfString)
+        Robot("test_build_robot_from_string", urdfString=urdfString)
 
     def test_build_robot_from_urdf(self):
-        robot = Robot("test_build_robot_from_string", urdfFile = self.r2d2_urdf_file)
+        Robot("test_build_robot_from_string", urdfFile=self.r2d2_urdf_file)
 
 
 if __name__ == '__main__':