format

Author: nim65s

src/dynamic_graph/sot/dynamic_pinocchio/__init__.py

@@ -1,7 +1,8 @@
 import numpy as np
 from numpy import cos, sin, sqrt
 
-from .dynamic import DynamicPinocchio
+from .dynamic import DynamicPinocchio  # noqa
+
 
 def fromSotToPinocchio(q_sot, freeflyer=True):
     if freeflyer:

src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py

@@ -273,9 +273,8 @@ def initializeRobot(self):
         """
         self.halfSitting = pinocchio.neutral(self.pinocchioModel)
         self.defineHalfSitting(self.halfSitting)
-        self.halfSitting = numpy.array(self.halfSitting[:3].tolist()
-                + [0., 0., 0.]  # Replace quaternion by RPY.
-                + self.halfSitting[7:].tolist())
+        self.halfSitting = numpy.array(self.halfSitting[:3].tolist() + [0., 0., 0.]  # Replace quaternion by RPY.
+                                       + self.halfSitting[7:].tolist())
         assert self.halfSitting.shape[0] == self.dynamic.getDimension()
 
         # Set the device limits.
@@ -287,9 +286,9 @@ def opposite(v):
             return [-x for x in v]
 
         self.dynamic.add_signals()
-        self.device.setPositionBounds( get(self.dynamic.lowerJl), get(self.dynamic.upperJl))
+        self.device.setPositionBounds(get(self.dynamic.lowerJl), get(self.dynamic.upperJl))
         self.device.setVelocityBounds(-get(self.dynamic.upperVl), get(self.dynamic.upperVl))
-        self.device.setTorqueBounds  (-get(self.dynamic.upperTl), get(self.dynamic.upperTl))
+        self.device.setTorqueBounds(-get(self.dynamic.upperTl), get(self.dynamic.upperTl))
 
         # Freeflyer reference frame should be the same as global
         # frame so that operational point positions correspond to
@@ -303,7 +302,9 @@ def opposite(v):
             plug(self.device.state, self.velocityDerivator.sin)
             plug(self.velocityDerivator.sout, self.dynamic.velocity)
         else:
-            self.dynamic.velocity.value = numpy.zeros([self.dimension,])
+            self.dynamic.velocity.value = numpy.zeros([
+                self.dimension,
+            ])
 
         if self.enableAccelerationDerivator:
             self.accelerationDerivator = \
@@ -312,7 +313,9 @@ def opposite(v):
             plug(self.velocityDerivator.sout, self.accelerationDerivator.sin)
             plug(self.accelerationDerivator.sout, self.dynamic.acceleration)
         else:
-            self.dynamic.acceleration.value = numpy.zeros([self.dimension,])
+            self.dynamic.acceleration.value = numpy.zeros([
+                self.dimension,
+            ])
 
     def addTrace(self, entityName, signalName):
         if self.tracer:

tests/python/humanoid_robot.py

@@ -5,7 +5,6 @@
 import unittest
 
 import numpy as np
-import pinocchio
 from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
 from dynamic_graph.sot.dynamic_pinocchio.humanoid_robot import AbstractHumanoidRobot
 
@@ -27,11 +26,9 @@ def defineHalfSitting(self, q):
 
 class HumanoidRobotTest(unittest.TestCase):
     def setUp(self):
-        import os
-        dir_path = os.path.dirname(os.path.realpath(__file__))
         from example_robot_data.path import EXAMPLE_ROBOT_DATA_MODEL_DIR
-        self.urdf_file_name=EXAMPLE_ROBOT_DATA_MODEL_DIR+\
-           '/talos_data/robots/talos_reduced.urdf'
+        self.urdf_file_name = EXAMPLE_ROBOT_DATA_MODEL_DIR + \
+            '/talos_data/robots/talos_reduced.urdf'
         self.name = "talos"
 
     def test_non_instanciable_robot(self):