From 1c671d511c6f8db9d807c787e8f127295896cc7d Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sat, 13 May 2023 17:43:18 +0200
Subject: [PATCH] tooling: add isort & toml-sort
---
.pre-commit-config.yaml | 8 ++++++++
demo/demo_quadruped.py | 18 ++++++++++--------
exercizes/ex_0_ur5_joint_space_control.py | 19 ++++++++++---------
exercizes/ex_1.py | 9 +++++----
exercizes/ex_1_ur5.py | 11 ++++++-----
exercizes/ex_2.py | 11 ++++++-----
exercizes/ex_3_biped_balance_with_gui.py | 1 -
exercizes/ex_4_LIPM_to_TSID.py | 6 +++---
exercizes/ex_4_conf.py | 3 ++-
exercizes/ex_4_long_conf.py | 3 ++-
exercizes/ex_4_plan_LIPM_romeo.py | 8 ++++----
exercizes/ex_4_talos_conf.py | 3 ++-
exercizes/ex_4_walking.py | 11 +++++------
exercizes/romeo_conf.py | 3 ++-
exercizes/talos_conf.py | 3 ++-
exercizes/test_cop_task.py | 9 +++++----
exercizes/tsid_biped.py | 1 +
exercizes/tsid_manipulator.py | 14 ++++++++------
exercizes/ur5_conf.py | 6 ++++--
exercizes/ur5_reaching_conf.py | 6 ++++--
pyproject.toml | 5 +++++
tests/python/generator.py | 5 +++--
tests/python/test_Contact.py | 6 ++++--
tests/python/test_ContactPoint.py | 1 -
tests/python/test_Deprecations.py | 2 +-
tests/python/test_Formulation.py | 3 ++-
tests/python/test_RobotWrapper.py | 1 +
tests/python/test_Solvers.py | 1 +
tests/python/test_Tasks.py | 3 ++-
tests/python/test_Trajectories.py | 1 +
30 files changed, 109 insertions(+), 72 deletions(-)
create mode 100644 pyproject.toml
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 310a13f..a873326 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -12,6 +12,10 @@ repos:
rev: 23.3.0
hooks:
- id: black
+- repo: https://github.com/PyCQA/isort
+ rev: 5.12.0
+ hooks:
+ - id: isort
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
@@ -21,3 +25,7 @@ repos:
hooks:
- id: clang-format
args: ['--style={BasedOnStyle: Google,SortIncludes: false}']
+- repo: https://github.com/pappasam/toml-sort
+ rev: v0.23.1
+ hooks:
+ - id: toml-sort-fix
diff --git a/demo/demo_quadruped.py b/demo/demo_quadruped.py
index c31f50e..411eb0a 100644
--- a/demo/demo_quadruped.py
+++ b/demo/demo_quadruped.py
@@ -1,17 +1,19 @@
-import pinocchio as pin
-import tsid
-import numpy as np
-from numpy import nan
-from numpy.linalg import norm as norm
import os
-import gepetto.corbaserver
-import time
import subprocess
import sys
+import time
+
+import gepetto.corbaserver
+import numpy as np
+import pinocchio as pin
+from numpy import nan
+from numpy.linalg import norm as norm
+
+import tsid
sys.path += [os.getcwd() + "/../exercizes"]
-import plot_utils as plut
import matplotlib.pyplot as plt
+import plot_utils as plut
np.set_printoptions(precision=3, linewidth=200, suppress=True)
diff --git a/exercizes/ex_0_ur5_joint_space_control.py b/exercizes/ex_0_ur5_joint_space_control.py
index f453f1d..290e60f 100644
--- a/exercizes/ex_0_ur5_joint_space_control.py
+++ b/exercizes/ex_0_ur5_joint_space_control.py
@@ -1,16 +1,17 @@
+import os
+import subprocess
+import time
+
+import gepetto.corbaserver
+import matplotlib.pyplot as plt
import numpy as np
+import pinocchio as pin
+import plot_utils as plut
+import ur5_conf as conf
from numpy import nan
from numpy.linalg import norm as norm
-import matplotlib.pyplot as plt
-import plot_utils as plut
-import time
-import pinocchio as pin
-import tsid
-import gepetto.corbaserver
-import subprocess
-import os
-import ur5_conf as conf
+import tsid
print("".center(conf.LINE_WIDTH, "#"))
print(" Joint Space Inverse Dynamics - Manipulator ".center(conf.LINE_WIDTH, "#"))
diff --git a/exercizes/ex_1.py b/exercizes/ex_1.py
index 94ffffa..ee779c3 100644
--- a/exercizes/ex_1.py
+++ b/exercizes/ex_1.py
@@ -1,10 +1,11 @@
-import numpy as np
-from numpy import nan
-from numpy.linalg import norm as norm
+import time
+
import matplotlib.pyplot as plt
+import numpy as np
import plot_utils as plut
-import time
import romeo_conf as conf
+from numpy import nan
+from numpy.linalg import norm as norm
from tsid_biped import TsidBiped
print("".center(conf.LINE_WIDTH, "#"))
diff --git a/exercizes/ex_1_ur5.py b/exercizes/ex_1_ur5.py
index 583eda9..ea6a549 100644
--- a/exercizes/ex_1_ur5.py
+++ b/exercizes/ex_1_ur5.py
@@ -1,13 +1,14 @@
-import numpy as np
-from numpy import nan
-from numpy.linalg import norm as norm
+import time
+
import matplotlib.pyplot as plt
+import numpy as np
import plot_utils as plut
-import time
-from tsid_manipulator import TsidManipulator
# import ur5_conf as conf
import ur5_reaching_conf as conf
+from numpy import nan
+from numpy.linalg import norm as norm
+from tsid_manipulator import TsidManipulator
print(("".center(conf.LINE_WIDTH, "#")))
print((" TSID - Manipulator End-Effector Sin Tracking ".center(conf.LINE_WIDTH, "#")))
diff --git a/exercizes/ex_2.py b/exercizes/ex_2.py
index 6a7ff6b..4d6e184 100644
--- a/exercizes/ex_2.py
+++ b/exercizes/ex_2.py
@@ -1,11 +1,12 @@
-import numpy as np
-from numpy import nan
-from numpy.linalg import norm as norm
+import time
+
import matplotlib.pyplot as plt
+import numpy as np
+import pinocchio as pin
import plot_utils as plut
-import time
import romeo_conf as conf
-import pinocchio as pin
+from numpy import nan
+from numpy.linalg import norm as norm
from tsid_biped import TsidBiped
print("".center(conf.LINE_WIDTH, "#"))
diff --git a/exercizes/ex_3_biped_balance_with_gui.py b/exercizes/ex_3_biped_balance_with_gui.py
index 1ebe903..ffd7ad8 100644
--- a/exercizes/ex_3_biped_balance_with_gui.py
+++ b/exercizes/ex_3_biped_balance_with_gui.py
@@ -12,7 +12,6 @@ from tkinter import HORIZONTAL, Button, Entry, Frame, Label, Scale, Tk, mainloop
import numpy as np
import pinocchio as pin
-
import talos_conf as conf
# import romeo_conf as conf
diff --git a/exercizes/ex_4_LIPM_to_TSID.py b/exercizes/ex_4_LIPM_to_TSID.py
index 40561b7..a36268c 100644
--- a/exercizes/ex_4_LIPM_to_TSID.py
+++ b/exercizes/ex_4_LIPM_to_TSID.py
@@ -1,11 +1,11 @@
-import numpy as np
+import ex_4_conf as conf
import LMPC_walking.second_order.plot_utils as plot_utils
+import matplotlib.pyplot as plt
+import numpy as np
from LMPC_walking.second_order.LIPM_to_whole_body import (
compute_foot_traj,
interpolate_lipm_traj,
)
-import matplotlib.pyplot as plt
-import ex_4_conf as conf
# import ex_4_long_conf as conf
diff --git a/exercizes/ex_4_conf.py b/exercizes/ex_4_conf.py
index 92754a8..74f7a86 100644
--- a/exercizes/ex_4_conf.py
+++ b/exercizes/ex_4_conf.py
@@ -5,8 +5,9 @@ Created on Thu Apr 18 09:47:07 2019
@author: student
"""
-import numpy as np
import os
+
+import numpy as np
import pinocchio as pin
np.set_printoptions(precision=3, linewidth=200, suppress=True)
diff --git a/exercizes/ex_4_long_conf.py b/exercizes/ex_4_long_conf.py
index 06e158c..c6cacd4 100644
--- a/exercizes/ex_4_long_conf.py
+++ b/exercizes/ex_4_long_conf.py
@@ -5,9 +5,10 @@ Created on Thu Apr 18 09:47:07 2019
@author: student
"""
-import numpy as np
import os
+import numpy as np
+
np.set_printoptions(precision=3, linewidth=200, suppress=True)
LINE_WIDTH = 60
diff --git a/exercizes/ex_4_plan_LIPM_romeo.py b/exercizes/ex_4_plan_LIPM_romeo.py
index 703152c..4823256 100644
--- a/exercizes/ex_4_plan_LIPM_romeo.py
+++ b/exercizes/ex_4_plan_LIPM_romeo.py
@@ -22,20 +22,20 @@ import numpy as np
from quadprog import solve_qp
try:
- import LMPC_walking.second_order.reference_trajectories as reference_trajectories
- import LMPC_walking.second_order.motion_model as motion_model
- import LMPC_walking.second_order.cost_function as cost_function
import LMPC_walking.second_order.constraints as constraints
+ import LMPC_walking.second_order.cost_function as cost_function
+ import LMPC_walking.second_order.motion_model as motion_model
import LMPC_walking.second_order.plot_utils as plot_utils
+ import LMPC_walking.second_order.reference_trajectories as reference_trajectories
except ModuleNotFoundError as e:
print(
"Please download LMPC_walking from https://github.com/machines-in-motion/lmpc_walking."
)
raise e
+import ex_4_conf as conf
import matplotlib.pyplot as plt
from plot_utils import *
-import ex_4_conf as conf
# import ex_4_long_conf as conf
diff --git a/exercizes/ex_4_talos_conf.py b/exercizes/ex_4_talos_conf.py
index ff22f6a..0f76b11 100644
--- a/exercizes/ex_4_talos_conf.py
+++ b/exercizes/ex_4_talos_conf.py
@@ -5,8 +5,9 @@ Created on Thu Apr 18 09:47:07 2019
@author: student
"""
-import numpy as np
import os
+
+import numpy as np
import pinocchio as pin
from example_robot_data.robots_loader import getModelPath
diff --git a/exercizes/ex_4_walking.py b/exercizes/ex_4_walking.py
index a3ba4b5..986751e 100644
--- a/exercizes/ex_4_walking.py
+++ b/exercizes/ex_4_walking.py
@@ -1,16 +1,15 @@
import time
-import numpy as np
-import scipy.sparse as spa
-import matplotlib.pyplot as plt
-import tsid
-import plot_utils as plut
import ex_4_conf as conf
-
+import matplotlib.pyplot as plt
+import numpy as np
+import plot_utils as plut
+import scipy.sparse as spa
from numpy import nan
from numpy.linalg import norm as norm
from tsid_biped import TsidBiped
+import tsid
print("".center(conf.LINE_WIDTH, "#"))
print(" Test Walking ".center(conf.LINE_WIDTH, "#"))
diff --git a/exercizes/romeo_conf.py b/exercizes/romeo_conf.py
index 3b7003b..a204015 100644
--- a/exercizes/romeo_conf.py
+++ b/exercizes/romeo_conf.py
@@ -5,8 +5,9 @@ Created on Thu Apr 18 09:47:07 2019
@author: student
"""
-import numpy as np
import os
+
+import numpy as np
import pinocchio as pin
np.set_printoptions(precision=3, linewidth=200, suppress=True)
diff --git a/exercizes/talos_conf.py b/exercizes/talos_conf.py
index 9e3e075..4e8d933 100644
--- a/exercizes/talos_conf.py
+++ b/exercizes/talos_conf.py
@@ -1,6 +1,7 @@
import os
-import pinocchio as pin
+
import numpy as np
+import pinocchio as pin
from example_robot_data.robots_loader import getModelPath
np.set_printoptions(precision=3, linewidth=200, suppress=True)
diff --git a/exercizes/test_cop_task.py b/exercizes/test_cop_task.py
index 1561fe4..1894c06 100644
--- a/exercizes/test_cop_task.py
+++ b/exercizes/test_cop_task.py
@@ -7,13 +7,14 @@
which was the goal of the test, validating the CoP task.
"""
+import time
+
+import ex_4_conf as conf
+import matplotlib.pyplot as plt
import numpy as np
+import plot_utils as plut
from numpy import nan
from numpy.linalg import norm as norm
-import matplotlib.pyplot as plt
-import plot_utils as plut
-import time
-import ex_4_conf as conf
# import ex_4_long_conf as conf
from tsid_biped import TsidBiped
diff --git a/exercizes/tsid_biped.py b/exercizes/tsid_biped.py
index 58a229c..d63d25a 100644
--- a/exercizes/tsid_biped.py
+++ b/exercizes/tsid_biped.py
@@ -4,6 +4,7 @@ import time
import numpy as np
import pinocchio as pin
+
import tsid
diff --git a/exercizes/tsid_manipulator.py b/exercizes/tsid_manipulator.py
index c2c1b08..93a7bc8 100644
--- a/exercizes/tsid_manipulator.py
+++ b/exercizes/tsid_manipulator.py
@@ -1,11 +1,13 @@
-import pinocchio as se3
-import tsid
-import numpy as np
-import numpy.matlib as matlib
import os
-import gepetto.corbaserver
-import time
import subprocess
+import time
+
+import gepetto.corbaserver
+import numpy as np
+import numpy.matlib as matlib
+import pinocchio as se3
+
+import tsid
class TsidManipulator:
diff --git a/exercizes/ur5_conf.py b/exercizes/ur5_conf.py
index a42b51e..97f4f81 100644
--- a/exercizes/ur5_conf.py
+++ b/exercizes/ur5_conf.py
@@ -5,9 +5,10 @@ Created on Thu Apr 18 09:47:07 2019
@author: student
"""
-import numpy as np
import os
+import numpy as np
+
np.set_printoptions(precision=3, linewidth=200, suppress=True)
LINE_WIDTH = 60
@@ -52,9 +53,10 @@ REF_SPHERE_RADIUS = 0.03
EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)
EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)
-from example_robot_data.robots_loader import getModelPath
from os.path import join
+from example_robot_data.robots_loader import getModelPath
+
urdf = "ur_description/urdf/ur5_robot.urdf"
path = getModelPath(urdf)
urdf = join(path, urdf)
diff --git a/exercizes/ur5_reaching_conf.py b/exercizes/ur5_reaching_conf.py
index d46a370..cfa9f62 100644
--- a/exercizes/ur5_reaching_conf.py
+++ b/exercizes/ur5_reaching_conf.py
@@ -5,9 +5,10 @@ Created on Thu Apr 18 09:47:07 2019
@author: student
"""
-import numpy as np
import os
+import numpy as np
+
np.set_printoptions(precision=3, linewidth=200, suppress=True)
LINE_WIDTH = 60
@@ -52,9 +53,10 @@ REF_SPHERE_RADIUS = 0.03
EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)
EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)
-from example_robot_data.robots_loader import getModelPath
from os.path import join
+from example_robot_data.robots_loader import getModelPath
+
urdf = "ur_description/urdf/ur5_robot.urdf"
path = getModelPath(urdf)
urdf = join(path, urdf)
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..4441909
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,5 @@
+[tool.isort]
+profile = "black"
+
+[tool.tomlsort]
+all = true
diff --git a/tests/python/generator.py b/tests/python/generator.py
index 2f303c9..78b1933 100644
--- a/tests/python/generator.py
+++ b/tests/python/generator.py
@@ -1,7 +1,8 @@
-import pinocchio as pin
+from math import pi
+
import hppfcl as fcl
import numpy as np
-from math import pi
+import pinocchio as pin
def create_7dof_arm(revoluteOnly=False):
diff --git a/tests/python/test_Contact.py b/tests/python/test_Contact.py
index a7417c1..3338191 100644
--- a/tests/python/test_Contact.py
+++ b/tests/python/test_Contact.py
@@ -1,7 +1,9 @@
+import copy
+
+import numpy as np
import pinocchio as se3
+
import tsid
-import numpy as np
-import copy
print("")
print("Test Contact")
diff --git a/tests/python/test_ContactPoint.py b/tests/python/test_ContactPoint.py
index 56ae365..cdf9e50 100644
--- a/tests/python/test_ContactPoint.py
+++ b/tests/python/test_ContactPoint.py
@@ -6,7 +6,6 @@ import pinocchio as se3
import tsid
-
print("")
print("Test Contact")
print("")
diff --git a/tests/python/test_Deprecations.py b/tests/python/test_Deprecations.py
index 7cdd353..8e0bf82 100644
--- a/tests/python/test_Deprecations.py
+++ b/tests/python/test_Deprecations.py
@@ -1,5 +1,5 @@
-import unittest
import sys
+import unittest
import warnings
import numpy as np
diff --git a/tests/python/test_Formulation.py b/tests/python/test_Formulation.py
index 07d3af0..6d99330 100644
--- a/tests/python/test_Formulation.py
+++ b/tests/python/test_Formulation.py
@@ -2,9 +2,10 @@ import os
import numpy as np
import pinocchio as se3
-import tsid
from numpy.linalg import norm
+import tsid
+
print("")
print("Test InvDyn")
print("")
diff --git a/tests/python/test_RobotWrapper.py b/tests/python/test_RobotWrapper.py
index 6e7bb07..7fa1df8 100644
--- a/tests/python/test_RobotWrapper.py
+++ b/tests/python/test_RobotWrapper.py
@@ -2,6 +2,7 @@ import os
import numpy as np
import pinocchio as se3
+
import tsid
print("")
diff --git a/tests/python/test_Solvers.py b/tests/python/test_Solvers.py
index d5c8f3a..b0d8bb4 100644
--- a/tests/python/test_Solvers.py
+++ b/tests/python/test_Solvers.py
@@ -1,4 +1,5 @@
import numpy as np
+
import tsid
print("")
diff --git a/tests/python/test_Tasks.py b/tests/python/test_Tasks.py
index 59711dc..cb98d57 100644
--- a/tests/python/test_Tasks.py
+++ b/tests/python/test_Tasks.py
@@ -2,9 +2,10 @@ import os
import numpy as np
import pinocchio as pin
-import tsid
from numpy.linalg import norm
+import tsid
+
print("")
print("Test Task COM")
print("")
diff --git a/tests/python/test_Trajectories.py b/tests/python/test_Trajectories.py
index 8c0acdd..0674e98 100644
--- a/tests/python/test_Trajectories.py
+++ b/tests/python/test_Trajectories.py
@@ -1,5 +1,6 @@
import numpy as np
import pinocchio as se3
+
import tsid
print("")
--
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