tooling: black & isort → ruff

pyproject.toml

@@ -17,6 +17,7 @@ has-binaries = false
 extend-exclude = ["cmake"]
 
 [tool.ruff.lint]
+extend-ignore = ["RUF012"]
 extend-select = ["I", "NPY", "RUF", "UP", "W"]
 
 [tool.tomlsort]

script/relative_foot_positions/constants_and_tools.py

@@ -125,10 +125,9 @@ def convex_hull_ineq(pts, cData=None, ineqFromCdata=None, gX=None, g=None, w=Non
     error = False
     for pt in allpts:
         print("pt ", pt)
-        assert (
-            resA.dot(pt.reshape((-1, 1))) - resb
-        ).max() < 0.001, "antecedent point not in End polytope" + str(
-            (resA.dot(pt.reshape((-1, 1))) - resb).max()
+        assert (resA.dot(pt.reshape((-1, 1))) - resb).max() < 0.001, (
+            "antecedent point not in End polytope"
+            + str((resA.dot(pt.reshape((-1, 1))) - resb).max())
         )
         if (H.dot(w(m, pt).reshape((-1, 1))) - h).max() > 0.001:
             error = True

script/relative_foot_positions/obj_to_constraints.py

@@ -108,7 +108,7 @@ def ineq_to_file(ineq, filename):
 
 
 def ineq_from_file(filename):
-    f1 = open(filename, "r")
+    f1 = open(filename)
     res = load(f1)
     return Inequalities(res["A"], res["b"], res["N"], res["V"])
 
@@ -158,8 +158,8 @@ def test_rotate_inequalities():
 
     data = __gen_data()
     ineq = rotate_inequalities(data[1], tr)
-    ok_points = [tr.dot(np.array(el + [1]))[0:3] for el in data[2]]
-    not_ok_points = [tr.dot(np.array(el + [1]))[0:3] for el in data[3]]
+    ok_points = [tr.dot(np.array([*el, 1]))[0:3] for el in data[2]]
+    not_ok_points = [tr.dot(np.array([*el, 1]))[0:3] for el in data[3]]
     for p in ok_points:
         assert is_inside(ineq, p), "point " + str(p) + " should be inside object"
     for p in not_ok_points:

script/relative_foot_positions/quaternion.py

@@ -19,7 +19,7 @@ import numpy as np
 from numpy import linalg
 
 
-class Quaternion(object):
+class Quaternion:
     """
     Quaternion class :
     ------------------