python: use pathlib

demo/demo_quadruped.py

@@ -2,18 +2,18 @@
 import subprocess
 import sys
 import time
+from pathlib import Path
 
 import gepetto.corbaserver
 import matplotlib.pyplot as plt
 import numpy as np
 import pinocchio as pin
 import plot_utils as plut
+import tsid
 from numpy import nan
 from numpy.linalg import norm as norm
 
-import tsid
-
-sys.path += [os.getcwd() + "/../exercizes"]
+sys.path += [Path.cwd().parent / "exercizes"]
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 
@@ -43,7 +43,7 @@
 DISPLAY_N = 25  # update robot configuration in viwewer every DISPLAY_N time steps
 N_SIMULATION = 6000  # number of time steps simulated
 
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../models"
 urdf = path + "/quadruped/urdf/quadruped.urdf"
 vector = pin.StdVec_StdString()

demo/demo_tsid_talos_gripper_closed_kinematic_chain.py

@@ -3,14 +3,13 @@
 (c) MIPT
 """
 
-import os
 import time
+from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
-from numpy.linalg import norm as norm
-
 import tsid
+from numpy.linalg import norm as norm
 
 np.set_printoptions(precision=3, linewidth=200, suppress=True)
 
@@ -38,7 +37,7 @@
 # Talos gripepr model (c) 2016, PAL Robotics, S.L.
 # Please use https://github.com/egordv/tsid_demo_closed_kinematic_chain repo for the model files
 
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "../../tsid_demo_closed_kinematic_chain/models/talos_gripper"
 urdf = path + "../../tsid_demo_closed_kinematic_chain/urdf/talos_gripper_half.urdf"
 vector = pin.StdVec_StdString()

exercizes/ex_4_conf.py

@@ -3,7 +3,7 @@
 @author: student
 """
 
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
@@ -16,7 +16,7 @@
 
 # robot parameters
 # ----------------------------------------------
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 srdf = path + "/srdf/romeo_collision.srdf"

exercizes/ex_4_long_conf.py

@@ -3,7 +3,7 @@
 @author: student
 """
 
-import os
+from pathlib import Path
 
 import numpy as np
 
@@ -15,7 +15,7 @@
 
 # robot parameters
 # ----------------------------------------------
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 srdf = path + "/srdf/romeo_collision.srdf"

exercizes/ex_4_talos_conf.py

@@ -3,7 +3,7 @@
 @author: student
 """
 
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
@@ -17,12 +17,12 @@
 
 # robot parameters
 # ----------------------------------------------
-filename = str(os.path.dirname(os.path.abspath(__file__)))
-urdf = "/talos_data/robots/talos_reduced.urdf"
-modelPath = getModelPath(urdf)
-urdf = modelPath + urdf
-srdf = modelPath + "/talos_data/srdf/talos.srdf"
-path = os.path.join(modelPath, "../..")
+filename = str(Path(__file__).resolve().parent)
+urdf = "talos_data/robots/talos_reduced.urdf"
+modelPath = Path(getModelPath(urdf))
+urdf = modelPath / urdf
+srdf = modelPath / "talos_data/srdf/talos.srdf"
+path = modelPath / "../.."
 
 nv = 38
 foot_scaling = 1.0

exercizes/notebooks/ex_0_joint_space_inverse_dynamics_arm.ipynb

@@ -16,6 +16,7 @@
    "outputs": [],
    "source": [
     "import sys\n",
+    "from pathlib import Path\n",
     "\n",
     "sys.path.append(\"..\")\n",
     "\n",
@@ -28,7 +29,6 @@
     "import tsid\n",
     "\n",
     "# import gepetto.corbaserver\n",
-    "import os\n",
     "\n",
     "import talos_arm_conf as conf"
    ]
@@ -161,7 +161,7 @@
    "outputs": [],
    "source": [
     "robot_display = pin.RobotWrapper.BuildFromURDF(\n",
-    "    conf.urdf, [os.path.join(conf.path, \"../..\")]\n",
+    "    conf.urdf, [str(Path(conf.path) / \"../..\")]\n",
     ")\n",
     "# Viewer = pin.visualize.GepettoVisualizer\n",
     "Viewer = pin.visualize.MeshcatVisualizer\n",

exercizes/notebooks/ex_1_com_sin_track_talos.ipynb

@@ -236,7 +236,7 @@
     "import matplotlib.pyplot as plt\n",
     "import numpy as np\n",
     "from numpy.linalg import norm\n",
-    "import os\n",
+    "from pathlib import Path\n",
     "import time as tmp\n",
     "\n",
     "# import the library TSID for the Whole-Body Controller\n",
@@ -353,7 +353,7 @@
    "source": [
     "# Creation of the robot wrapper for gepetto viewer (graphical interface)\n",
     "robot_display = pin.RobotWrapper.BuildFromURDF(\n",
-    "    urdf, [os.path.join(path, \"../..\")], pin.JointModelFreeFlyer()\n",
+    "    urdf, [str(Path(path) / \"../..\")], pin.JointModelFreeFlyer()\n",
     ")\n",
     "# Viewer = pin.visualize.GepettoVisualizer\n",
     "Viewer = pin.visualize.MeshcatVisualizer\n",

exercizes/romeo_conf.py

@@ -3,7 +3,7 @@
 @author: student
 """
 
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
@@ -72,7 +72,7 @@
 LF_SPHERE_COLOR = (0, 0, 1, 0.5)
 LF_REF_SPHERE_COLOR = (0.5, 0, 1, 0.5)
 
-filename = str(os.path.dirname(os.path.abspath(__file__)))
-path = filename + "/../models/romeo"
-urdf = path + "/urdf/romeo.urdf"
-srdf = path + "/srdf/romeo_collision.srdf"
+filename = Path(__file__).resolve().parent
+path = filename / "../models/romeo"
+urdf = path / "urdf/romeo.urdf"
+srdf = path / "srdf/romeo_collision.srdf"

exercizes/talos_arm_conf.py

@@ -1,3 +1,5 @@
+from pathlib import Path
+
 import numpy as np
 from example_robot_data.robots_loader import getModelPath
 
@@ -45,5 +47,5 @@
 EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)
 
 urdf = "/talos_data/robots/talos_left_arm.urdf"
-path = getModelPath(urdf)
-urdf = path + urdf
+path = Path(getModelPath(urdf))
+urdf = path / urdf

exercizes/talos_conf.py

@@ -1,4 +1,4 @@
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
@@ -104,7 +104,7 @@
 LF_REF_SPHERE_COLOR = (0.5, 0, 1, 0.5)
 
 urdf = "/talos_data/robots/talos_reduced.urdf"
-path = getModelPath(urdf)
-urdf = path + urdf
-srdf = path + "/talos_data/srdf/talos.srdf"
-path = os.path.join(path, "../..")
+path = Path(getModelPath(urdf))
+urdf = path / urdf
+srdf = path / "talos_data/srdf/talos.srdf"
+path = path / "../.."

exercizes/ur5_conf.py

@@ -3,7 +3,7 @@
 @author: student
 """
 
-from os.path import join
+from pathlib import Path
 
 import numpy as np
 from example_robot_data.robots_loader import getModelPath
@@ -54,6 +54,6 @@
 
 
 urdf = "ur_description/urdf/ur5_robot.urdf"
-path = getModelPath(urdf)
-urdf = join(path, urdf)
-path = join(path, "../..")
+path = Path(getModelPath(urdf))
+urdf = path / urdf
+path = path / "../.."

exercizes/ur5_reaching_conf.py

@@ -3,7 +3,7 @@
 @author: student
 """
 
-from os.path import join
+from pathlib import Path
 
 import numpy as np
 from example_robot_data.robots_loader import getModelPath
@@ -54,6 +54,6 @@
 
 
 urdf = "ur_description/urdf/ur5_robot.urdf"
-path = getModelPath(urdf)
-urdf = join(path, urdf)
-path = join(path, "../..")
+path = Path(getModelPath(urdf))
+urdf = path / urdf
+path = path / "../.."

tests/python/test_Contact.py

@@ -1,4 +1,4 @@
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as se3
@@ -11,7 +11,7 @@
 
 tol = 1e-5
 
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 vector = se3.StdVec_StdString()

tests/python/test_ContactPoint.py

@@ -1,16 +1,16 @@
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as se3
-
 import tsid
 
 print("")
 print("Test Contact")
 print("")
 
 tol = 1e-5
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
+
 path = filename + "/../../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 vector = se3.StdVec_StdString()

tests/python/test_Formulation.py

@@ -1,16 +1,15 @@
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as se3
-from numpy.linalg import norm
-
 import tsid
+from numpy.linalg import norm
 
 print("")
 print("Test InvDyn")
 print("")
 
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 vector = se3.StdVec_StdString()

tests/python/test_Gravity.py

@@ -1,15 +1,14 @@
-import os
+from pathlib import Path
 
 import pinocchio as se3
-
 import tsid
 
 print("")
 print("Test setGravity")
 print("")
 
 
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 vector = se3.StdVec_StdString()

tests/python/test_RobotWrapper.py

@@ -1,4 +1,4 @@
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as se3
@@ -10,7 +10,7 @@
 print("")
 
 
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 vector = se3.StdVec_StdString()

tests/python/test_Tasks.py

@@ -1,4 +1,4 @@
-import os
+from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
@@ -14,7 +14,7 @@
 
 
 tol = 1e-5
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 vector = pin.StdVec_StdString()
@@ -204,7 +204,7 @@
 print("")
 
 tol = 1e-5
-filename = str(os.path.dirname(os.path.abspath(__file__)))
+filename = str(Path(__file__).resolve().parent)
 path = filename + "/../../models/romeo"
 urdf = path + "/urdf/romeo.urdf"
 vector = pin.StdVec_StdString()