ruff fixes

stack-of-tasks · Aug 26, 2024 · 2b7e12a · 2b7e12a
1 parent b68a3ee
commit 2b7e12a
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Showing 16 changed files with 73 additions and 110 deletions.
diff --git a/demo/demo_quadruped.py b/demo/demo_quadruped.py
@@ -183,18 +183,17 @@
     com_acc_des[:, i] = comTask.getDesiredAcceleration
 
     if i % PRINT_N == 0:
-        print("Time %.3f" % (t))
+        print(f"Time {t:.3f}")
         print("\tNormal forces: ", end=" ")
         for contact in contacts:
             if invdyn.checkContact(contact.name, sol):
                 f = invdyn.getContactForce(contact.name, sol)
-                print("%4.1f" % (contact.getNormalForce(f)), end=" ")
+                print(f"{contact.getNormalForce(f):4.1f}", end=" ")
 
         print(
-            "\n\ttracking err %s: %.3f"
-            % (comTask.name.ljust(20, "."), norm(comTask.position_error, 2))
+            "\n\ttracking err {}: {:.3f}".format(comTask.name.ljust(20, "."), norm(comTask.position_error, 2))
         )
-        print("\t||v||: %.3f\t ||dv||: %.3f" % (norm(v, 2), norm(dv)))
+        print(f"\t||v||: {norm(v, 2):.3f}\t ||dv||: {norm(dv):.3f}")
 
     v_mean = v + 0.5 * dt * dv
     v += dt * dv

diff --git a/demo/demo_tsid_talos_gripper_closed_kinematic_chain.py b/demo/demo_tsid_talos_gripper_closed_kinematic_chain.py
@@ -176,7 +176,7 @@
     dv = invdyn.getAccelerations(sol)
 
     if i % PRINT_N == 0:
-        print("Time %.3f" % (t))
+        print(f"Time {t:.3f}")
 
     v_mean = v + 0.5 * dt * dv
     v += dt * dv

diff --git a/exercizes/ex_0_ur5_joint_space_control.py b/exercizes/ex_0_ur5_joint_space_control.py
@@ -102,18 +102,17 @@
     HQPData = formulation.computeProblemData(t, q[:, i], v[:, i])
     sol = solver.solve(HQPData)
     if sol.status != 0:
-        print("Time %.3f QP problem could not be solved! Error code:" % t, sol.status)
+        print(f"Time {t:.3f} QP problem could not be solved! Error code:", sol.status)
         break
 
     tau[:, i] = formulation.getActuatorForces(sol)
     dv[:, i] = formulation.getAccelerations(sol)
     dv_des[:, i] = postureTask.getDesiredAcceleration
 
     if i % conf.PRINT_N == 0:
-        print("Time %.3f" % (t))
+        print(f"Time {t:.3f}")
         print(
-            "\ttracking err %s: %.3f"
-            % (postureTask.name.ljust(20, "."), norm(postureTask.position_error, 2))
+            "\ttracking err {}: {:.3f}".format(postureTask.name.ljust(20, "."), norm(postureTask.position_error, 2))
         )
 
     # numerical integration

diff --git a/exercizes/ex_1.py b/exercizes/ex_1.py
@@ -55,26 +55,23 @@
     com_acc_des[:, i] = tsid.comTask.getDesiredAcceleration
 
     if i % conf.PRINT_N == 0:
-        print("Time %.3f" % (t))
+        print(f"Time {t:.3f}")
         if tsid.formulation.checkContact(tsid.contactRF.name, sol):
             f = tsid.formulation.getContactForce(tsid.contactRF.name, sol)
             print(
-                "\tnormal force %s: %.1f"
-                % (tsid.contactRF.name.ljust(20, "."), tsid.contactRF.getNormalForce(f))
+                "\tnormal force {}: {:.1f}".format(tsid.contactRF.name.ljust(20, "."), tsid.contactRF.getNormalForce(f))
             )
 
         if tsid.formulation.checkContact(tsid.contactLF.name, sol):
             f = tsid.formulation.getContactForce(tsid.contactLF.name, sol)
             print(
-                "\tnormal force %s: %.1f"
-                % (tsid.contactLF.name.ljust(20, "."), tsid.contactLF.getNormalForce(f))
+                "\tnormal force {}: {:.1f}".format(tsid.contactLF.name.ljust(20, "."), tsid.contactLF.getNormalForce(f))
             )
 
         print(
-            "\ttracking err %s: %.3f"
-            % (tsid.comTask.name.ljust(20, "."), norm(tsid.comTask.position_error, 2))
+            "\ttracking err {}: {:.3f}".format(tsid.comTask.name.ljust(20, "."), norm(tsid.comTask.position_error, 2))
         )
-        print("\t||v||: %.3f\t ||dv||: %.3f" % (norm(v, 2), norm(dv)))
+        print(f"\t||v||: {norm(v, 2):.3f}\t ||dv||: {norm(dv):.3f}")
 
     q, v = tsid.integrate_dv(q, v, dv, conf.dt)
     t += conf.dt

diff --git a/exercizes/ex_1_ur5.py b/exercizes/ex_1_ur5.py
@@ -70,7 +70,7 @@
 
     sol = tsid.solver.solve(HQPData)
     if sol.status != 0:
-        print(("Time %.3f QP problem could not be solved! Error code:" % t, sol.status))
+        print((f"Time {t:.3f} QP problem could not be solved! Error code:", sol.status))
         break
 
     tau[:, i] = tsid.formulation.getActuatorForces(sol)
@@ -89,20 +89,19 @@
     ee_acc_des[:, i] = tsid.eeTask.getDesiredAcceleration[:3]
 
     if i % conf.PRINT_N == 0:
-        print("Time %.3f" % (t))
+        print(f"Time {t:.3f}")
         print(
-            "\ttracking err %s: %.3f"
-            % (tsid.eeTask.name.ljust(20, "."), norm(tsid.eeTask.position_error, 2))
+            "\ttracking err {}: {:.3f}".format(tsid.eeTask.name.ljust(20, "."), norm(tsid.eeTask.position_error, 2))
         )
 
     q[:, i + 1], v[:, i + 1] = tsid.integrate_dv(q[:, i], v[:, i], dv, conf.dt)
     t += conf.dt
 
     if i % conf.DISPLAY_N == 0:
         tsid.robot_display.display(q[:, i])
-        tsid.gui.applyConfiguration("world/ee", ee_pos[:, i].tolist() + [0, 0, 0, 1.0])
+        tsid.gui.applyConfiguration("world/ee", [*ee_pos[:, i].tolist(), 0, 0, 0, 1.0])
         tsid.gui.applyConfiguration(
-            "world/ee_ref", ee_pos_ref[:, i].tolist() + [0, 0, 0, 1.0]
+            "world/ee_ref", [*ee_pos_ref[:, i].tolist(), 0, 0, 0, 1.0]
         )
 
     time_spent = time.time() - time_start

diff --git a/exercizes/ex_2.py b/exercizes/ex_2.py
@@ -66,26 +66,23 @@
     com_acc_des[:, i] = tsid.comTask.getDesiredAcceleration
 
     if i % conf.PRINT_N == 0:
-        print("Time %.3f" % (t))
+        print(f"Time {t:.3f}")
         if tsid.formulation.checkContact(tsid.contactRF.name, sol):
             f = tsid.formulation.getContactForce(tsid.contactRF.name, sol)
             print(
-                "\tnormal force %s: %.1f"
-                % (tsid.contactRF.name.ljust(20, "."), tsid.contactRF.getNormalForce(f))
+                "\tnormal force {}: {:.1f}".format(tsid.contactRF.name.ljust(20, "."), tsid.contactRF.getNormalForce(f))
             )
 
         if tsid.formulation.checkContact(tsid.contactLF.name, sol):
             f = tsid.formulation.getContactForce(tsid.contactLF.name, sol)
             print(
-                "\tnormal force %s: %.1f"
-                % (tsid.contactLF.name.ljust(20, "."), tsid.contactLF.getNormalForce(f))
+                "\tnormal force {}: {:.1f}".format(tsid.contactLF.name.ljust(20, "."), tsid.contactLF.getNormalForce(f))
             )
 
         print(
-            "\ttracking err %s: %.3f"
-            % (tsid.comTask.name.ljust(20, "."), norm(tsid.comTask.position_error, 2))
+            "\ttracking err {}: {:.3f}".format(tsid.comTask.name.ljust(20, "."), norm(tsid.comTask.position_error, 2))
         )
-        print("\t||v||: %.3f\t ||dv||: %.3f" % (norm(v, 2), norm(dv)))
+        print(f"\t||v||: {norm(v, 2):.3f}\t ||dv||: {norm(dv):.3f}")
 
     q, v = tsid.integrate_dv(q, v, dv, conf.dt)
     t += conf.dt

diff --git a/exercizes/ex_3_biped_balance_with_gui.py b/exercizes/ex_3_biped_balance_with_gui.py
@@ -25,7 +25,7 @@ def __init__(self, master, name, from_, to, tickinterval, length, orient, comman
         for i in range(3):
             self.s[i] = Scale(
                 master,
-                label="%s %s" % (name, AXES[i]),
+                label=f"{name} {AXES[i]}",
                 from_=from_[i],
                 to=to[i],
                 tickinterval=tickinterval[i],
@@ -45,7 +45,7 @@ class Entry3d:
     def __init__(self, master, name):
         self.s = 3 * [None]
         for i in range(3):
-            Label(master, text="%s %s" % (name, AXES[i])).pack()  # side=tk.TOP)
+            Label(master, text=f"{name} {AXES[i]}").pack()  # side=tk.TOP)
             self.s[i] = Entry(master, width=5)
             self.s[i].pack()  # side=tk.BOTTOM)
             separator = Frame(height=1, bd=1, relief=tk.SUNKEN)
@@ -222,10 +222,10 @@ def run_simu():
             x_lf_ref = tsid.trajLF.getSample(t).pos()[:3]
             x_rf_ref = tsid.trajRF.getSample(t).pos()[:3]
             vizutils.applyViewerConfiguration(
-                tsid.viz, "world/com", x_com.tolist() + [0, 0, 0, 1.0]
+                tsid.viz, "world/com", [*x_com.tolist(), 0, 0, 0, 1.0]
             )
             vizutils.applyViewerConfiguration(
-                tsid.viz, "world/com_ref", x_com_ref.tolist() + [0, 0, 0, 1.0]
+                tsid.viz, "world/com_ref", [*x_com_ref.tolist(), 0, 0, 0, 1.0]
             )
             vizutils.applyViewerConfiguration(
                 tsid.viz, "world/rf", pin.SE3ToXYZQUATtuple(H_rf)
@@ -234,16 +234,15 @@ def run_simu():
                 tsid.viz, "world/lf", pin.SE3ToXYZQUATtuple(H_lf)
             )
             vizutils.applyViewerConfiguration(
-                tsid.viz, "world/rf_ref", x_rf_ref.tolist() + [0, 0, 0, 1.0]
+                tsid.viz, "world/rf_ref", [*x_rf_ref.tolist(), 0, 0, 0, 1.0]
             )
             vizutils.applyViewerConfiguration(
-                tsid.viz, "world/lf_ref", x_lf_ref.tolist() + [0, 0, 0, 1.0]
+                tsid.viz, "world/lf_ref", [*x_lf_ref.tolist(), 0, 0, 0, 1.0]
             )
 
         if i % 1000 == 0:
             print(
-                "Average loop time: %.1f (expected is %.1f)"
-                % (1e3 * time_avg, 1e3 * conf.dt)
+                f"Average loop time: {1e3 * time_avg:.1f} (expected is {1e3 * conf.dt:.1f})"
             )
 
         time_spent = time.time() - time_start

diff --git a/exercizes/ex_4_walking.py b/exercizes/ex_4_walking.py
@@ -125,8 +125,7 @@
     elif i > 0 and i < N - 1:
         if contact_phase[i] != contact_phase[i - 1]:
             print(
-                "Time %.3f Changing contact phase from %s to %s"
-                % (t, contact_phase[i - 1], contact_phase[i])
+                f"Time {t:.3f} Changing contact phase from {contact_phase[i - 1]} to {contact_phase[i]}"
             )
             if contact_phase[i] == "left":
                 tsid_biped.add_contact_LF()
@@ -151,7 +150,7 @@
         print("QP problem could not be solved! Error code:", sol.status)
         break
     if norm(v, 2) > 40.0:
-        print("Time %.3f Velocities are too high, stop everything!" % (t), norm(v))
+        print(f"Time {t:.3f} Velocities are too high, stop everything!", norm(v))
         break
 
     if i > 0:
@@ -190,33 +189,30 @@
                 cop_LF[1, i] = -f_LF[3, i] / f_LF[2, i]
 
     if i % conf.PRINT_N == 0:
-        print("Time %.3f" % (t))
+        print(f"Time {t:.3f}")
         if (
             tsid_biped.formulation.checkContact(tsid_biped.contactRF.name, sol)
             and i >= 0
         ):
             print(
-                "\tnormal force %s: %.1f"
-                % (tsid_biped.contactRF.name.ljust(20, "."), f_RF[2, i])
+                "\tnormal force {}: {:.1f}".format(tsid_biped.contactRF.name.ljust(20, "."), f_RF[2, i])
             )
 
         if (
             tsid_biped.formulation.checkContact(tsid_biped.contactLF.name, sol)
             and i >= 0
         ):
             print(
-                "\tnormal force %s: %.1f"
-                % (tsid_biped.contactLF.name.ljust(20, "."), f_LF[2, i])
+                "\tnormal force {}: {:.1f}".format(tsid_biped.contactLF.name.ljust(20, "."), f_LF[2, i])
             )
 
         print(
-            "\ttracking err %s: %.3f"
-            % (
+            "\ttracking err {}: {:.3f}".format(
                 tsid_biped.comTask.name.ljust(20, "."),
                 norm(tsid_biped.comTask.position_error, 2),
             )
         )
-        print("\t||v||: %.3f\t ||dv||: %.3f" % (norm(v, 2), norm(dv)))
+        print(f"\t||v||: {norm(v, 2):.3f}\t ||dv||: {norm(dv):.3f}")
 
     q, v = tsid_biped.integrate_dv(q, v, dv, conf.dt)
     t += conf.dt

diff --git a/exercizes/notebooks/ex_0_joint_space_inverse_dynamics_arm.ipynb b/exercizes/notebooks/ex_0_joint_space_inverse_dynamics_arm.ipynb
@@ -1,5 +1,5 @@
 {
-  "cells": [
+ "cells": [
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -264,18 +264,17 @@
     "    HQPData = formulation.computeProblemData(t, q[:, i], v[:, i])\n",
     "    sol = solver.solve(HQPData)\n",
     "    if sol.status != 0:\n",
-    "        print(\"Time %.3f QP problem could not be solved! Error code:\" % t, sol.status)\n",
+    "        print(f\"Time {t:.3f} QP problem could not be solved! Error code:\", sol.status)\n",
     "        break\n",
     "\n",
     "    tau[:, i] = formulation.getActuatorForces(sol)\n",
     "    dv[:, i] = formulation.getAccelerations(sol)\n",
     "    dv_des[:, i] = postureTask.getDesiredAcceleration\n",
     "\n",
     "    if i % conf.PRINT_N == 0:\n",
-    "        print(\"Time %.3f\" % (t))\n",
+    "        print(f\"Time {t:.3f}\")\n",
     "        print(\n",
-    "            \"\\ttracking err %s: %.3f\"\n",
-    "            % (postureTask.name.ljust(20, \".\"), norm(postureTask.position_error, 2))\n",
+    "            \"\\ttracking err {}: {:.3f}\".format(postureTask.name.ljust(20, \".\"), norm(postureTask.position_error, 2))\n",
     "        )\n",
     "\n",
     "    # numerical integration\n",

diff --git a/exercizes/notebooks/ex_1_com_sin_track_talos.ipynb b/exercizes/notebooks/ex_1_com_sin_track_talos.ipynb
@@ -1,5 +1,5 @@
 {
-  "cells": [
+ "cells": [
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -775,26 +775,23 @@
     "    com_acc_des[:, i] = comTask.getDesiredAcceleration\n",
     "\n",
     "    if i % PRINT_N == 0:\n",
-    "        print(\"Time %.3f\" % t)\n",
+    "        print(f\"Time {t:.3f}\")\n",
     "        if invdyn.checkContact(contactRF.name, sol):\n",
     "            f = invdyn.getContactForce(contactRF.name, sol)\n",
     "            print(\n",
-    "                \"\\tnormal force %s: %.1f\"\n",
-    "                % (contactRF.name.ljust(20, \".\"), contactRF.getNormalForce(f))\n",
+    "                \"\\tnormal force {}: {:.1f}\".format(contactRF.name.ljust(20, \".\"), contactRF.getNormalForce(f))\n",
     "            )\n",
     "\n",
     "        if invdyn.checkContact(contactLF.name, sol):\n",
     "            f = invdyn.getContactForce(contactLF.name, sol)\n",
     "            print(\n",
-    "                \"\\tnormal force %s: %.1f\"\n",
-    "                % (contactLF.name.ljust(20, \".\"), contactLF.getNormalForce(f))\n",
+    "                \"\\tnormal force {}: {:.1f}\".format(contactLF.name.ljust(20, \".\"), contactLF.getNormalForce(f))\n",
     "            )\n",
     "\n",
     "        print(\n",
-    "            \"\\ttracking err %s: %.3f\"\n",
-    "            % (comTask.name.ljust(20, \".\"), norm(comTask.position_error, 2))\n",
+    "            \"\\ttracking err {}: {:.3f}\".format(comTask.name.ljust(20, \".\"), norm(comTask.position_error, 2))\n",
     "        )\n",
-    "        print(\"\\t||v||: %.3f\\t ||dv||: %.3f\" % (norm(v, 2), norm(dv)))\n",
+    "        print(f\"\\t||v||: {norm(v, 2):.3f}\\t ||dv||: {norm(dv):.3f}\")\n",
     "\n",
     "    v_mean = v + 0.5 * dt * dv\n",
     "    v += dt * dv\n",

diff --git a/exercizes/notebooks/ex_3_biped_balance_with_gui.ipynb b/exercizes/notebooks/ex_3_biped_balance_with_gui.ipynb
@@ -1,5 +1,5 @@
 {
-  "cells": [
+ "cells": [
   {
    "cell_type": "code",
    "execution_count": null,
@@ -121,10 +121,10 @@
     "            x_lf_ref = tsid.trajLF.getSample(t).pos()[:3]\n",
     "            x_rf_ref = tsid.trajRF.getSample(t).pos()[:3]\n",
     "            vizutils.applyViewerConfiguration(\n",
-    "                tsid.viz, \"world/com\", x_com.tolist() + [0, 0, 0, 1.0]\n",
+    "                tsid.viz, \"world/com\", [*x_com.tolist(), 0, 0, 0, 1.0]\n",
     "            )\n",
     "            vizutils.applyViewerConfiguration(\n",
-    "                tsid.viz, \"world/com_ref\", x_com_ref.tolist() + [0, 0, 0, 1.0]\n",
+    "                tsid.viz, \"world/com_ref\", [*x_com_ref.tolist(), 0, 0, 0, 1.0]\n",
     "            )\n",
     "            vizutils.applyViewerConfiguration(\n",
     "                tsid.viz, \"world/rf\", pin.SE3ToXYZQUATtuple(H_rf)\n",
@@ -133,10 +133,10 @@
     "                tsid.viz, \"world/lf\", pin.SE3ToXYZQUATtuple(H_lf)\n",
     "            )\n",
     "            vizutils.applyViewerConfiguration(\n",
-    "                tsid.viz, \"world/rf_ref\", x_rf_ref.tolist() + [0, 0, 0, 1.0]\n",
+    "                tsid.viz, \"world/rf_ref\", [*x_rf_ref.tolist(), 0, 0, 0, 1.0]\n",
     "            )\n",
     "            vizutils.applyViewerConfiguration(\n",
-    "                tsid.viz, \"world/lf_ref\", x_lf_ref.tolist() + [0, 0, 0, 1.0]\n",
+    "                tsid.viz, \"world/lf_ref\", [*x_lf_ref.tolist(), 0, 0, 0, 1.0]\n",
     "            )\n",
     "\n",
     "        time_spent = time.time() - time_start\n",

diff --git a/exercizes/plot_utils.py b/exercizes/plot_utils.py
@@ -88,7 +88,7 @@ def movePlotSpines(ax, spinesPos):
 def setAxisFontSize(ax, size):
     for label in ax.get_xticklabels() + ax.get_yticklabels():
         label.set_fontsize(size)
-        label.set_bbox(dict(facecolor="white", edgecolor="None", alpha=0.65))
+        label.set_bbox({"facecolor": "white", "edgecolor": "None", "alpha": 0.65})
 
 
 mpl.rcdefaults()