[Python] format

setup.cfg

+[flake8]
+max-line-length = 119
+exclude = cmake
+ignore = N801,N802,N803,N806,N816

src/dynamic_graph/sot_talos_balance/create_entities_utils.py

@@ -3,43 +3,26 @@ from time import sleep
 import numpy as np
 from dynamic_graph import plug
 from dynamic_graph.sot.core.madgwickahrs import MadgwickAHRS
-from dynamic_graph.sot.core.operator import (Component_of_vector, MatrixHomoToPoseQuaternion,
-                                             MatrixHomoToPoseRollPitchYaw, Mix_of_vector, PoseRollPitchYawToMatrixHomo,
-                                             Selec_of_vector)
+from dynamic_graph.sot.core.operator import Mix_of_vector, Selec_of_vector
 from dynamic_graph.sot.core.parameter_server import ParameterServer
 from dynamic_graph.sot_talos_balance.admittance_controller_end_effector import AdmittanceControllerEndEffector
 from dynamic_graph.sot_talos_balance.ankle_admittance_controller import AnkleAdmittanceController
-from dynamic_graph.sot_talos_balance.ankle_joint_selector import AnkleJointSelector
-from dynamic_graph.sot_talos_balance.boolean_identity import BooleanIdentity
 from dynamic_graph.sot_talos_balance.com_admittance_controller import ComAdmittanceController
 from dynamic_graph.sot_talos_balance.dcm_com_controller import DcmComController
 from dynamic_graph.sot_talos_balance.dcm_controller import DcmController
 from dynamic_graph.sot_talos_balance.dcm_estimator import DcmEstimator
-from dynamic_graph.sot_talos_balance.delay import DelayVector
 from dynamic_graph.sot_talos_balance.distribute_wrench import DistributeWrench
 from dynamic_graph.sot_talos_balance.dummy_dcm_estimator import DummyDcmEstimator
-from dynamic_graph.sot_talos_balance.dummy_walking_pattern_generator import DummyWalkingPatternGenerator
-from dynamic_graph.sot_talos_balance.euler_to_quat import EulerToQuat
 from dynamic_graph.sot_talos_balance.example import Example
-from dynamic_graph.sot_talos_balance.foot_force_difference_controller import FootForceDifferenceController
 from dynamic_graph.sot_talos_balance.ft_calibration import FtCalibration
 from dynamic_graph.sot_talos_balance.ft_wrist_calibration import FtWristCalibration
 from dynamic_graph.sot_talos_balance.hip_flexibility_compensation import HipFlexibilityCompensation
-from dynamic_graph.sot_talos_balance.int_identity import IntIdentity
 from dynamic_graph.sot_talos_balance.joint_position_controller import JointPositionController
 from dynamic_graph.sot_talos_balance.nd_trajectory_generator import NdTrajectoryGenerator
-from dynamic_graph.sot_talos_balance.pose_quaternion_to_matrix_homo import PoseQuaternionToMatrixHomo
 from dynamic_graph.sot_talos_balance.qualisys_client import QualisysClient
-from dynamic_graph.sot_talos_balance.quat_to_euler import QuatToEuler
-from dynamic_graph.sot_talos_balance.round_double_to_int import RoundDoubleToInt
 from dynamic_graph.sot_talos_balance.simple_admittance_controller import SimpleAdmittanceController
 from dynamic_graph.sot_talos_balance.simple_distribute_wrench import SimpleDistributeWrench
-from dynamic_graph.sot_talos_balance.simple_pid import SimplePID
-from dynamic_graph.sot_talos_balance.simple_pidd import SimplePIDD
-from dynamic_graph.sot_talos_balance.simple_reference_frame import SimpleReferenceFrame
-from dynamic_graph.sot_talos_balance.simple_state_integrator import SimpleStateIntegrator
 from dynamic_graph.sot_talos_balance.simple_zmp_estimator import SimpleZmpEstimator
-from dynamic_graph.sot_talos_balance.state_transformation import StateTransformation
 from dynamic_graph.sot_talos_balance.talos_base_estimator import TalosBaseEstimator
 from dynamic_graph.sot_talos_balance.talos_control_manager import TalosControlManager
 # python

src/dynamic_graph/sot_talos_balance/extract_torque_motorenc_joint_enc_batteries.py

 import subprocess
 
+import yaml
+
 import rosbag
 import rospy
-import yaml
 
 bagname = '2017-07-24-08-04-30.bag'
 
@@ -64,9 +65,11 @@ def extract_data():
                 diff_nanosecs = 1000000000 + diff_nanosecs
                 diff_secs = diff_secs - 1
 
-            afile.write(
-                str(messages[jn].motorenc) + ' ' + str(messages[jn].jointenc) + ' ' + str(messages[jn].torquesensor) +
-                ' ' + str(messages[jn].current) + ' ' + str(diff_secs) + '.' + str(diff_nanosecs).zfill(9) + '\n')
+            afile.write(' '.join(
+                str(m) for m in [
+                    messages[jn].motorenc, messages[jn].jointenc, messages[jn].torquesensor, messages[jn].current,
+                    diff_secs
+                ]) + '.' + str(diff_nanosecs).zfill(9) + '\n')
     for jn in jointnames:
         files[jn].close()
 
@@ -83,11 +86,12 @@ def extract_batteries_data():
             diff_nanosecs = 1000000000 + diff_nanosecs
             diff_secs = diff_secs - 1
 
-        f.write(
-            str(aps.message.charge) + ' ' + str(aps.message.current) + ' ' + str(aps.message.input_voltage) + ' ' +
-            str(aps.message.battery_voltage) + ' ' + str(aps.message.regulator_voltage) + ' ' +
-            str(aps.message.lower_body_voltage) + ' ' + str(aps.message.charger_voltage) + ' ' +
-            str(aps.message.upper_body_voltage) + ' ' + str(diff_secs) + '.' + str(diff_nanosecs).zfill(9) + '\n')
+        f.write(' '.join(
+            str(m) for m in [
+                aps.message.charge, aps.message.current, aps.message.input_voltage, aps.message.battery_voltage,
+                aps.message.regulator_voltage, aps.message.lower_body_voltage, aps.message.charger_voltage,
+                aps.message.upper_body_voltage, diff_secs
+            ]) + '.' + str(diff_nanosecs).zfill(9) + '\n')
 
     f.close()
 

src/dynamic_graph/sot_talos_balance/talos/parameter_server_conf.py

@@ -97,5 +97,5 @@ footFrameNames = {"Right": "leg_right_6_joint", "Left": "leg_left_6_joint"}
 rightFootSensorXYZ = (0.0, 0.0, -0.085)
 rightFootSoleXYZ = (0.0, 0.0, -0.105)
 
-urdftosot = (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18,\
-             19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
+urdftosot = (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
+             29, 30, 31)

src/dynamic_graph/sot_talos_balance/test/appli_admittance_end_effector.py

@@ -130,8 +130,10 @@ create_topic(robot.publisher, robot.controller, 'force', robot=robot, data_type=
 create_topic(robot.publisher, robot.controller, 'dq', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.controller, 'w_dq', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.controller, 'w_forceDes', robot=robot, data_type='vector')
-create_topic(robot.publisher, robot.forceCalibrator, 'leftWristForceOut', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.forceCalibrator, 'rightWristForceOut', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.forceCalibrator, 'leftWristForceOut', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.forceCalibrator, 'rightWristForceOut', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 # # --- ROS SUBSCRIBER
 robot.subscriber = RosSubscribe("end_effector_subscriber")

src/dynamic_graph/sot_talos_balance/test/appli_ankle_admittance.py

@@ -347,8 +347,10 @@ create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type
 create_topic(robot.publisher, robot.wrenchDistributor, 'wrenchLeft', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.wrenchDistributor, 'wrenchRight', robot=robot, data_type='vector')
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 # --- TRACER
 robot.tracer = TracerRealTime("com_tracer")

src/dynamic_graph/sot_talos_balance/test/appli_dcmAnkleControl.py

@@ -473,10 +473,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 create_topic(robot.publisher, robot.distribute, 'wrenchLeft', robot=robot, data_type='vector')  # reference left wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_type='vector')  # optimized reference wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot,
+             data_type='vector')  # optimized reference wrench
 
 #create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
 #create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
@@ -484,8 +487,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.rightPitchAnkleController, 'tau', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.rightPitchAnkleController, 'tauDes', robot=robot, data_type='vector')

src/dynamic_graph/sot_talos_balance/test/appli_dcmCopControl.py

@@ -358,10 +358,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 create_topic(robot.publisher, robot.distribute, 'wrenchLeft', robot=robot, data_type='vector')  # reference left wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_type='vector')  # optimized reference wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot,
+             data_type='vector')  # optimized reference wrench
 
 #create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
 #create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
@@ -369,8 +372,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.zmp_estimator, 'copRight', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.rightAnkleController, 'pRef', robot=robot, data_type='vector')

src/dynamic_graph/sot_talos_balance/test/appli_dcmCoupledAnkleControl.py

@@ -487,13 +487,18 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 create_topic(robot.publisher, robot.distribute, 'wrenchLeft', robot=robot, data_type='vector')  # reference left wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_type='vector')  # optimized reference wrench
-
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot,
+             data_type='vector')  # optimized reference wrench
+
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.pitchController, 'tauL', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.pitchController, 'tauDesL', robot=robot, data_type='vector')

src/dynamic_graph/sot_talos_balance/test/appli_dcmSingleAnkleControl.py

@@ -401,10 +401,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 create_topic(robot.publisher, robot.distribute, 'wrenchLeft', robot=robot, data_type='vector')  # reference left wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_type='vector')  # optimized reference wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot,
+             data_type='vector')  # optimized reference wrench
 
 #create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
 #create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
@@ -412,8 +415,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.rightPitchAnkleController, 'tau', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.rightPitchAnkleController, 'tauDes', robot=robot, data_type='vector')

src/dynamic_graph/sot_talos_balance/test/appli_dcmSingleCopControl.py

@@ -362,10 +362,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 create_topic(robot.publisher, robot.distribute, 'wrenchLeft', robot=robot, data_type='vector')  # reference left wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_type='vector')  # optimized reference wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot,
+             data_type='vector')  # optimized reference wrench
 
 #create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
 #create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
@@ -373,8 +376,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.zmp_estimator, 'copRight', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.rightAnkleController, 'pRef', robot=robot, data_type='vector')

src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpControl_distribute.py

@@ -411,10 +411,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 create_topic(robot.publisher, robot.distribute, 'wrenchLeft', robot=robot, data_type='vector')  # reference left wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_type='vector')  # optimized reference wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot,
+             data_type='vector')  # optimized reference wrench
 
 #create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
 #create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
@@ -422,8 +425,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 # --- TRACER
 robot.tracer = TracerRealTime("com_tracer")

src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpControl_estimator.py

@@ -389,8 +389,10 @@ create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_typ
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 # --- TRACER
 robot.tracer = TracerRealTime("com_tracer")

src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpControl_feedback.py

@@ -325,8 +325,10 @@ create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_typ
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 # --- TRACER
 robot.tracer = TracerRealTime("zmp_tracer")

src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpControl_file.py

@@ -31,7 +31,7 @@ g = 9.81
 omega = sqrt(g / h)
 
 # --- Parameter server
-fill_parameter_server(robot.param_server,param_server_conf, dt)
+fill_parameter_server(robot.param_server, param_server_conf, dt)
 
 # --- Initial feet and waist
 robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle'])
@@ -435,8 +435,10 @@ create_topic(robot.publisher, robot.waistTrajGen, 'x', robot=robot, data_type='v
 create_topic(robot.publisher, robot.lfTrajGen, 'x', robot=robot, data_type='vector')  # desired left foot pose
 create_topic(robot.publisher, robot.rfTrajGen, 'x', robot=robot, data_type='vector')  # desired right foot pose
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.dynamic, 'LF', robot=robot, data_type='matrixHomo')  # left foot
 create_topic(robot.publisher, robot.dynamic, 'RF', robot=robot, data_type='matrixHomo')  # right foot

src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpCopControl.py

@@ -385,10 +385,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 create_topic(robot.publisher, robot.distribute, 'wrenchLeft', robot=robot, data_type='vector')  # reference left wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_type='vector')  # optimized reference wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot,
+             data_type='vector')  # optimized reference wrench
 
 #create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
 #create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
@@ -396,8 +399,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.zmp_estimator, 'copRight', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.rightAnkleController, 'pRef', robot=robot, data_type='vector')

src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpFootControl.py

@@ -400,12 +400,17 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 create_topic(robot.publisher, robot.distribute, 'wrenchLeft', robot=robot, data_type='vector')  # reference left wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'surfaceWrenchLeft', robot=robot, data_type='vector')  # reference surface left wrench
-create_topic(robot.publisher, robot.distribute, 'surfaceWrenchRight', robot=robot, data_type='vector')  # reference right wrench
-create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_type='vector')  # optimized reference wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'surfaceWrenchLeft', robot=robot,
+             data_type='vector')  # reference surface left wrench
+create_topic(robot.publisher, robot.distribute, 'surfaceWrenchRight', robot=robot,
+             data_type='vector')  # reference right wrench
+create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot,
+             data_type='vector')  # optimized reference wrench
 
 #create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
 #create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
@@ -413,8 +418,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.zmp_estimator, 'copRight', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.zmp_estimator, 'copLeft', robot=robot, data_type='vector')

src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpWaistControl.py

@@ -347,7 +347,8 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
 create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector')  # reference ZMP
 
-create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_type='vector')  # unoptimized reference wrench
+create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot,
+             data_type='vector')  # unoptimized reference wrench
 
 #create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
 #create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
@@ -355,8 +356,10 @@ create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench
 
 create_topic(robot.publisher, robot.zmp_estimator, 'copRight', robot=robot, data_type='vector')
 create_topic(robot.publisher, robot.zmp_estimator, 'copLeft', robot=robot, data_type='vector')

src/dynamic_graph/sot_talos_balance/test/appli_dcm_estimator.py

@@ -140,7 +140,8 @@ create_topic(robot.publisher, robot.cdc_estimator, 'dc', robot=robot, data_type=
 create_topic(robot.publisher, robot.estimator, 'dcm', robot=robot, data_type='vector')  # estimated DCM
 
 create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector')  # estimated ZMP
-create_topic(robot.publisher, robot.zmp_estimator, 'emergencyStop', robot=robot, data_type='boolean')  # ZMP emergency stop
+create_topic(robot.publisher, robot.zmp_estimator, 'emergencyStop', robot=robot,
+             data_type='boolean')  # ZMP emergency stop
 create_topic(robot.publisher, robot.dynamic, 'com', robot=robot, data_type='vector')  # SOT CoM
 create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vector')  # SOT ZMP
 create_topic(robot.publisher, robot.device, 'forceLLEG', robot=robot, data_type='vector')  # force on left foot
@@ -152,5 +153,7 @@ create_topic(robot.publisher, robot.device, 'forceRLEG', robot=robot, data_type=
 #create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
 #create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
-create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector')  # calibrated left wrench
-create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector')  # calibrated right wrench
+create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated left wrench
+create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot,
+             data_type='vector')  # calibrated right wrench