tooling: add isort & toml-sort

nim65s · nim65s · commit 1c671d511c6f · 2023-05-13T17:43:18.000+02:00
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -12,6 +12,10 @@ repos:
     rev: 23.3.0
     hooks:
     -   id: black
+-   repo: https://github.com/PyCQA/isort
+    rev: 5.12.0
+    hooks:
+    -   id: isort
 -   repo: https://github.com/cheshirekow/cmake-format-precommit
     rev: v0.6.13
     hooks:
@@ -21,3 +25,7 @@ repos:
     hooks:
     -   id: clang-format
         args: ['--style={BasedOnStyle: Google,SortIncludes: false}']
+-   repo: https://github.com/pappasam/toml-sort
+    rev: v0.23.1
+    hooks:
+    - id: toml-sort-fix
diff --git a/demo/demo_quadruped.py b/demo/demo_quadruped.py
@@ -1,17 +1,19 @@
-import pinocchio as pin
-import tsid
-import numpy as np
-from numpy import nan
-from numpy.linalg import norm as norm
 import os
-import gepetto.corbaserver
-import time
 import subprocess
 import sys
+import time
+
+import gepetto.corbaserver
+import numpy as np
+import pinocchio as pin
+from numpy import nan
+from numpy.linalg import norm as norm
+
+import tsid
 
 sys.path += [os.getcwd() + "/../exercizes"]
-import plot_utils as plut
 import matplotlib.pyplot as plt
+import plot_utils as plut
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 
diff --git a/exercizes/ex_0_ur5_joint_space_control.py b/exercizes/ex_0_ur5_joint_space_control.py
@@ -1,16 +1,17 @@
+import os
+import subprocess
+import time
+
+import gepetto.corbaserver
+import matplotlib.pyplot as plt
 import numpy as np
+import pinocchio as pin
+import plot_utils as plut
+import ur5_conf as conf
 from numpy import nan
 from numpy.linalg import norm as norm
-import matplotlib.pyplot as plt
-import plot_utils as plut
-import time
-import pinocchio as pin
-import tsid
-import gepetto.corbaserver
-import subprocess
-import os
 
-import ur5_conf as conf
+import tsid
 
 print("".center(conf.LINE_WIDTH, "#"))
 print(" Joint Space Inverse Dynamics - Manipulator ".center(conf.LINE_WIDTH, "#"))
diff --git a/exercizes/ex_1.py b/exercizes/ex_1.py
@@ -1,10 +1,11 @@
-import numpy as np
-from numpy import nan
-from numpy.linalg import norm as norm
+import time
+
 import matplotlib.pyplot as plt
+import numpy as np
 import plot_utils as plut
-import time
 import romeo_conf as conf
+from numpy import nan
+from numpy.linalg import norm as norm
 from tsid_biped import TsidBiped
 
 print("".center(conf.LINE_WIDTH, "#"))
diff --git a/exercizes/ex_1_ur5.py b/exercizes/ex_1_ur5.py
@@ -1,13 +1,14 @@
-import numpy as np
-from numpy import nan
-from numpy.linalg import norm as norm
+import time
+
 import matplotlib.pyplot as plt
+import numpy as np
 import plot_utils as plut
-import time
-from tsid_manipulator import TsidManipulator
 
 # import ur5_conf as conf
 import ur5_reaching_conf as conf
+from numpy import nan
+from numpy.linalg import norm as norm
+from tsid_manipulator import TsidManipulator
 
 print(("".center(conf.LINE_WIDTH, "#")))
 print((" TSID - Manipulator End-Effector Sin Tracking ".center(conf.LINE_WIDTH, "#")))
diff --git a/exercizes/ex_2.py b/exercizes/ex_2.py
@@ -1,11 +1,12 @@
-import numpy as np
-from numpy import nan
-from numpy.linalg import norm as norm
+import time
+
 import matplotlib.pyplot as plt
+import numpy as np
+import pinocchio as pin
 import plot_utils as plut
-import time
 import romeo_conf as conf
-import pinocchio as pin
+from numpy import nan
+from numpy.linalg import norm as norm
 from tsid_biped import TsidBiped
 
 print("".center(conf.LINE_WIDTH, "#"))
diff --git a/exercizes/ex_3_biped_balance_with_gui.py b/exercizes/ex_3_biped_balance_with_gui.py
@@ -12,7 +12,6 @@
 
 import numpy as np
 import pinocchio as pin
-
 import talos_conf as conf
 
 # import romeo_conf as conf
diff --git a/exercizes/ex_4_LIPM_to_TSID.py b/exercizes/ex_4_LIPM_to_TSID.py
@@ -1,11 +1,11 @@
-import numpy as np
+import ex_4_conf as conf
 import LMPC_walking.second_order.plot_utils as plot_utils
+import matplotlib.pyplot as plt
+import numpy as np
 from LMPC_walking.second_order.LIPM_to_whole_body import (
     compute_foot_traj,
     interpolate_lipm_traj,
 )
-import matplotlib.pyplot as plt
-import ex_4_conf as conf
 
 # import ex_4_long_conf as conf
 
diff --git a/exercizes/ex_4_conf.py b/exercizes/ex_4_conf.py
@@ -5,8 +5,9 @@
 @author: student
 """
 
-import numpy as np
 import os
+
+import numpy as np
 import pinocchio as pin
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
diff --git a/exercizes/ex_4_long_conf.py b/exercizes/ex_4_long_conf.py
@@ -5,9 +5,10 @@
 @author: student
 """
 
-import numpy as np
 import os
 
+import numpy as np
+
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 LINE_WIDTH = 60
 
diff --git a/exercizes/ex_4_plan_LIPM_romeo.py b/exercizes/ex_4_plan_LIPM_romeo.py
@@ -22,20 +22,20 @@
 from quadprog import solve_qp
 
 try:
-    import LMPC_walking.second_order.reference_trajectories as reference_trajectories
-    import LMPC_walking.second_order.motion_model as motion_model
-    import LMPC_walking.second_order.cost_function as cost_function
     import LMPC_walking.second_order.constraints as constraints
+    import LMPC_walking.second_order.cost_function as cost_function
+    import LMPC_walking.second_order.motion_model as motion_model
     import LMPC_walking.second_order.plot_utils as plot_utils
+    import LMPC_walking.second_order.reference_trajectories as reference_trajectories
 except ModuleNotFoundError as e:
     print(
         "Please download LMPC_walking from https://github.com/machines-in-motion/lmpc_walking."
     )
     raise e
 
+import ex_4_conf as conf
 import matplotlib.pyplot as plt
 from plot_utils import *
-import ex_4_conf as conf
 
 # import ex_4_long_conf as conf
 
diff --git a/exercizes/ex_4_talos_conf.py b/exercizes/ex_4_talos_conf.py
@@ -5,8 +5,9 @@
 @author: student
 """
 
-import numpy as np
 import os
+
+import numpy as np
 import pinocchio as pin
 from example_robot_data.robots_loader import getModelPath
 
diff --git a/exercizes/ex_4_walking.py b/exercizes/ex_4_walking.py
@@ -1,16 +1,15 @@
 import time
-import numpy as np
-import scipy.sparse as spa
-import matplotlib.pyplot as plt
 
-import tsid
-import plot_utils as plut
 import ex_4_conf as conf
-
+import matplotlib.pyplot as plt
+import numpy as np
+import plot_utils as plut
+import scipy.sparse as spa
 from numpy import nan
 from numpy.linalg import norm as norm
 from tsid_biped import TsidBiped
 
+import tsid
 
 print("".center(conf.LINE_WIDTH, "#"))
 print(" Test Walking ".center(conf.LINE_WIDTH, "#"))
diff --git a/exercizes/romeo_conf.py b/exercizes/romeo_conf.py
@@ -5,8 +5,9 @@
 @author: student
 """
 
-import numpy as np
 import os
+
+import numpy as np
 import pinocchio as pin
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
diff --git a/exercizes/talos_conf.py b/exercizes/talos_conf.py
@@ -1,6 +1,7 @@
 import os
-import pinocchio as pin
+
 import numpy as np
+import pinocchio as pin
 from example_robot_data.robots_loader import getModelPath
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
diff --git a/exercizes/test_cop_task.py b/exercizes/test_cop_task.py
@@ -7,13 +7,14 @@
     which was the goal of the test, validating the CoP task.
 """
 
+import time
+
+import ex_4_conf as conf
+import matplotlib.pyplot as plt
 import numpy as np
+import plot_utils as plut
 from numpy import nan
 from numpy.linalg import norm as norm
-import matplotlib.pyplot as plt
-import plot_utils as plut
-import time
-import ex_4_conf as conf
 
 # import ex_4_long_conf as conf
 from tsid_biped import TsidBiped
diff --git a/exercizes/tsid_biped.py b/exercizes/tsid_biped.py
@@ -4,6 +4,7 @@
 
 import numpy as np
 import pinocchio as pin
+
 import tsid
 
 
diff --git a/exercizes/tsid_manipulator.py b/exercizes/tsid_manipulator.py
@@ -1,11 +1,13 @@
-import pinocchio as se3
-import tsid
-import numpy as np
-import numpy.matlib as matlib
 import os
-import gepetto.corbaserver
-import time
 import subprocess
+import time
+
+import gepetto.corbaserver
+import numpy as np
+import numpy.matlib as matlib
+import pinocchio as se3
+
+import tsid
 
 
 class TsidManipulator:
diff --git a/exercizes/ur5_conf.py b/exercizes/ur5_conf.py
@@ -5,9 +5,10 @@
 @author: student
 """
 
-import numpy as np
 import os
 
+import numpy as np
+
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 LINE_WIDTH = 60
 
@@ -52,9 +53,10 @@
 EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)
 EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)
 
-from example_robot_data.robots_loader import getModelPath
 from os.path import join
 
+from example_robot_data.robots_loader import getModelPath
+
 urdf = "ur_description/urdf/ur5_robot.urdf"
 path = getModelPath(urdf)
 urdf = join(path, urdf)
diff --git a/exercizes/ur5_reaching_conf.py b/exercizes/ur5_reaching_conf.py
@@ -5,9 +5,10 @@
 @author: student
 """
 
-import numpy as np
 import os
 
+import numpy as np
+
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 LINE_WIDTH = 60
 
@@ -52,9 +53,10 @@
 EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)
 EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)
 
-from example_robot_data.robots_loader import getModelPath
 from os.path import join
 
+from example_robot_data.robots_loader import getModelPath
+
 urdf = "ur_description/urdf/ur5_robot.urdf"
 path = getModelPath(urdf)
 urdf = join(path, urdf)
diff --git a/pyproject.toml b/pyproject.toml
@@ -0,0 +1,5 @@
+[tool.isort]
+profile = "black"
+
+[tool.tomlsort]
+all = true
diff --git a/tests/python/generator.py b/tests/python/generator.py
@@ -1,7 +1,8 @@
-import pinocchio as pin
+from math import pi
+
 import hppfcl as fcl
 import numpy as np
-from math import pi
+import pinocchio as pin
 
 
 def create_7dof_arm(revoluteOnly=False):
diff --git a/tests/python/test_Contact.py b/tests/python/test_Contact.py
@@ -1,7 +1,9 @@
+import copy
+
+import numpy as np
 import pinocchio as se3
+
 import tsid
-import numpy as np
-import copy
 
 print("")
 print("Test Contact")
diff --git a/tests/python/test_ContactPoint.py b/tests/python/test_ContactPoint.py
@@ -6,7 +6,6 @@
 
 import tsid
 
-
 print("")
 print("Test Contact")
 print("")
diff --git a/tests/python/test_Deprecations.py b/tests/python/test_Deprecations.py
@@ -1,5 +1,5 @@
-import unittest
 import sys
+import unittest
 import warnings
 
 import numpy as np
diff --git a/tests/python/test_Formulation.py b/tests/python/test_Formulation.py
diff --git a/tests/python/test_RobotWrapper.py b/tests/python/test_RobotWrapper.py
diff --git a/tests/python/test_Solvers.py b/tests/python/test_Solvers.py
diff --git a/tests/python/test_Tasks.py b/tests/python/test_Tasks.py
diff --git a/tests/python/test_Trajectories.py b/tests/python/test_Trajectories.py
