Merge pull request #2367 from nim65s/ruff

modernize python code base

Author: jcarpent

.git-blame-ignore-revs

@@ -1,2 +1,8 @@
 # pre-commit run -a (format-all, 2024-05-16)
 4cc842428c8cf0636bd8b062b73788abbcf50304
+
+# pre-commit run -a (2024-08-12)
+3e4163b025ae0d876bc10db83cb889491efa0228
+
+# ruff check --fix (2024-08-12)
+45576e056b2a1000a6fa16caabd015ce622093d1

.pre-commit-config.yaml

@@ -29,8 +29,8 @@ repos:
   - repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.5.7
     hooks:
+      - id: ruff
       - id: ruff-format
-        exclude: doc/
   - repo: https://github.com/cheshirekow/cmake-format-precommit
     rev: v0.6.13
     hooks:

CHANGELOG.md

@@ -23,6 +23,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Changed
 - Use eigenpy to expose `GeometryObject::meshMaterial` variant ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))
 - GepettoViewer is no more the default viewer for RobotWrapper ([#2331](https://github.com/stack-of-tasks/pinocchio/pull/2331))
+- Modernize python code base with ruff ([#2367](https://github.com/stack-of-tasks/pinocchio/pull/2367))
 
 ## [3.1.0] - 2024-07-04
 

bindings/python/pinocchio/__init__.py

@@ -1,6 +1,7 @@
 #
 # Copyright (c) 2015-2021 CNRS INRIA
 #
+# ruff: noqa: E402, F401, F403, F405
 
 import numpy
 
@@ -16,26 +17,28 @@
 # More resources on https://github.com/diffpy/pyobjcryst/issues/33
 try:
     from .pinocchio_pywrap_default import *
-    from .pinocchio_pywrap_default import __version__, __raw_version__
+    from .pinocchio_pywrap_default import __raw_version__, __version__
 except ImportError:
     import platform
 
     if platform.system() == "Windows":
-        from .windows_dll_manager import get_dll_paths, build_directory_manager
+        from .windows_dll_manager import build_directory_manager, get_dll_paths
 
         with build_directory_manager() as dll_dir_manager:
             for p in get_dll_paths():
                 dll_dir_manager.add_dll_directory(p)
             from .pinocchio_pywrap_default import *
-            from .pinocchio_pywrap_default import __version__, __raw_version__
+            from .pinocchio_pywrap_default import __raw_version__, __version__
     else:
         raise
 
-from . import utils
-from .explog import exp, log
+import inspect
 
 # Manually register submodules
-import sys, inspect
+import sys
+
+from . import utils
+from .explog import exp, log
 
 submodules = inspect.getmembers(pinocchio_pywrap_default, inspect.ismodule)
 for module_info in submodules:
@@ -48,15 +51,15 @@
     try:
         import hppfcl
         from hppfcl import (
-            Contact,
-            StdVec_Contact,
+            CachedMeshLoader,
+            CollisionGeometry,
             CollisionResult,
-            StdVec_CollisionResult,
+            Contact,
             DistanceResult,
-            StdVec_DistanceResult,
-            CollisionGeometry,
             MeshLoader,
-            CachedMeshLoader,
+            StdVec_CollisionResult,
+            StdVec_Contact,
+            StdVec_DistanceResult,
         )
 
         WITH_HPP_FCL_BINDINGS = True
@@ -65,6 +68,6 @@
 else:
     WITH_HPP_FCL_BINDINGS = False
 
-from .robot_wrapper import RobotWrapper
 from .deprecated import *
+from .robot_wrapper import RobotWrapper
 from .shortcuts import *

bindings/python/pinocchio/casadi/__init__.py

@@ -1,16 +1,15 @@
 #
 # Copyright (c) 2020 INRIA
 #
+# ruff: noqa: F401, F403, F405
 
-from ..pinocchio_pywrap_casadi import *
-
-from ..pinocchio_pywrap_casadi import __version__, __raw_version__
+# Manually register submodules
+import sys
 
 from .. import utils
 from ..explog import exp, log
-
-# Manually register submodules
-import sys
+from ..pinocchio_pywrap_casadi import *
+from ..pinocchio_pywrap_casadi import __raw_version__, __version__
 
 sys.modules["pinocchio.casadi.rpy"] = rpy
 sys.modules["pinocchio.casadi.cholesky"] = cholesky
@@ -19,15 +18,15 @@
     try:
         import hppfcl
         from hppfcl import (
-            Contact,
-            StdVec_Contact,
+            CachedMeshLoader,
+            CollisionGeometry,
             CollisionResult,
-            StdVec_CollisionResult,
+            Contact,
             DistanceResult,
-            StdVec_DistanceResult,
-            CollisionGeometry,
             MeshLoader,
-            CachedMeshLoader,
+            StdVec_CollisionResult,
+            StdVec_Contact,
+            StdVec_DistanceResult,
         )
 
         WITH_HPP_FCL_BINDINGS = True

bindings/python/pinocchio/cppad/__init__.py

@@ -1,15 +1,14 @@
 #
 # Copyright (c) 2020-2021 INRIA
 #
-from ..pinocchio_pywrap_cppad import *
-
-from ..pinocchio_pywrap_cppad import __version__, __raw_version__
+# ruff: noqa: F401, F403, F405
+# Manually register submodules
+import sys
 
 from .. import utils
 from ..explog import exp, log
-
-# Manually register submodules
-import sys
+from ..pinocchio_pywrap_cppad import *
+from ..pinocchio_pywrap_cppad import __raw_version__, __version__
 
 sys.modules["pinocchio.cppad.rpy"] = rpy
 sys.modules["pinocchio.cppad.cholesky"] = cholesky
@@ -18,15 +17,15 @@
     try:
         import hppfcl
         from hppfcl import (
-            Contact,
-            StdVec_Contact,
+            CachedMeshLoader,
+            CollisionGeometry,
             CollisionResult,
-            StdVec_CollisionResult,
+            Contact,
             DistanceResult,
-            StdVec_DistanceResult,
-            CollisionGeometry,
             MeshLoader,
-            CachedMeshLoader,
+            StdVec_CollisionResult,
+            StdVec_Contact,
+            StdVec_DistanceResult,
         )
 
         WITH_HPP_FCL_BINDINGS = True

bindings/python/pinocchio/cppadcg/__init__.py

@@ -1,15 +1,14 @@
 #
 # Copyright (c) 2022 INRIA
 #
-from ..pinocchio_pywrap_cppadcg import *
-
-from ..pinocchio_pywrap_cppadcg import __version__, __raw_version__
+# ruff: noqa: F401, F403, F405
+# Manually register submodules
+import sys
 
 from .. import utils
 from ..explog import exp, log
-
-# Manually register submodules
-import sys
+from ..pinocchio_pywrap_cppadcg import *
+from ..pinocchio_pywrap_cppadcg import __raw_version__, __version__
 
 sys.modules["pinocchio.cppadcg.rpy"] = rpy
 sys.modules["pinocchio.cppadcg.cholesky"] = cholesky
@@ -18,15 +17,15 @@
     try:
         import hppfcl
         from hppfcl import (
-            Contact,
-            StdVec_Contact,
+            CachedMeshLoader,
+            CollisionGeometry,
             CollisionResult,
-            StdVec_CollisionResult,
+            Contact,
             DistanceResult,
-            StdVec_DistanceResult,
-            CollisionGeometry,
             MeshLoader,
-            CachedMeshLoader,
+            StdVec_CollisionResult,
+            StdVec_Contact,
+            StdVec_DistanceResult,
         )
 
         WITH_HPP_FCL_BINDINGS = True

bindings/python/pinocchio/deprecated.py

@@ -5,8 +5,3 @@
 ## In this file, are reported some deprecated functions that are still maintained until the next important future releases ##
 
 from __future__ import print_function
-
-import warnings as _warnings
-
-from . import pinocchio_pywrap_default as pin
-from .deprecation import deprecated, DeprecatedWarning