[python] Move np and rotate to utils

bindings/python/pinocchio/rpy.py

@@ -9,31 +9,4 @@ from . import libpinocchio_pywrap as pin
 from .libpinocchio_pywrap import _rpyToMatrix as rpyToMatrix
 from .libpinocchio_pywrap import _matrixToRpy as matrixToRpy
 
-def npToTTuple(M):
-    L = M.tolist()
-    for i in range(len(L)):
-        L[i] = tuple(L[i])
-    return tuple(L)
-
-
-def npToTuple(M):
-    if len(M.shape) == 1:
-        return tuple(M.tolist())
-    if M.shape[0] == 1:
-        return tuple(M.tolist()[0])
-    if M.shape[1] == 1:
-        return tuple(M.T.tolist()[0])
-    return npToTTuple(M)
-
-
-def rotate(axis, ang):
-    '''
-    # Transformation Matrix corresponding to a rotation about x,y or z
-    eg. T = rot('x', pi / 4): rotate pi/4 rad about x axis
-    '''
-    cood = {'x': 0, 'y': 1, 'z': 2}
-    u = np.zeros(3)
-    u[cood[axis]] = 1.0
-    return pin.AngleAxis(ang, u).matrix()
-
-__all__ = ['npToTTuple', 'npToTuple', 'rotate', 'rpyToMatrix', 'matrixToRpy']
+__all__ = ['rpyToMatrix', 'matrixToRpy']

bindings/python/pinocchio/utils.py

@@ -10,10 +10,37 @@ import numpy as np
 import numpy.linalg as npl
 
 from . import libpinocchio_pywrap as pin
-from .rpy import matrixToRpy, npToTTuple, npToTuple, rotate, rpyToMatrix
+from .rpy import matrixToRpy, rpyToMatrix
 
 from .deprecation import deprecated
 
+def npToTTuple(M):
+    L = M.tolist()
+    for i in range(len(L)):
+        L[i] = tuple(L[i])
+    return tuple(L)
+
+
+def npToTuple(M):
+    if len(M.shape) == 1:
+        return tuple(M.tolist())
+    if M.shape[0] == 1:
+        return tuple(M.tolist()[0])
+    if M.shape[1] == 1:
+        return tuple(M.T.tolist()[0])
+    return npToTTuple(M)
+
+
+def rotate(axis, ang):
+    '''
+    # Transformation Matrix corresponding to a rotation about x,y or z
+    eg. T = rot('x', pi / 4): rotate pi/4 rad about x axis
+    '''
+    cood = {'x': 0, 'y': 1, 'z': 2}
+    u = np.zeros(3)
+    u[cood[axis]] = 1.0
+    return pin.AngleAxis(ang, u).matrix()
+
 def eye(n):
     res = np.eye(n)
     if pin.getNumpyType()==np.matrix:

bindings/python/pinocchio/visualize/gepetto_visualizer.py

 from .. import libpinocchio_pywrap as pin
 from ..shortcuts import buildModelsFromUrdf, createDatas
-from ..rpy import npToTuple
+from ..utils import npToTuple
 
 from . import BaseVisualizer
 

bindings/python/pinocchio/visualize/meshcat_visualizer.py

 from .. import libpinocchio_pywrap as pin
 from ..shortcuts import buildModelsFromUrdf, createDatas
-from ..rpy import npToTuple
+from ..utils import npToTuple
 
 from . import BaseVisualizer