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modernize python code base, part 2 #2418

Merged
merged 2 commits into from
Sep 22, 2024
Merged

modernize python code base, part 2 #2418

merged 2 commits into from
Sep 22, 2024

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nim65s
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@nim65s nim65s commented Sep 16, 2024

Hi,

This follow #2367 by enabling additional opt-in features of ruff, and implementing those either manually or through auto-fix.

Commit history was rewritten to ease review, but things can be squashed once agreed.

@hrp2-14

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@nim65s nim65s changed the base branch from master to devel September 16, 2024 11:03
github-actions[bot]
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👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
The possible extra labels are:

  • build_collision (build Pinocchio with coal support)
  • build_casadi (build Pinocchio with CasADi support)
  • build_autodiff (build Pinocchio with CppAD support)
  • build_codegen (build Pinocchio with CppADCodeGen support)
  • build_extra (build Pinocchio with extra algorithms)
  • build_mpfr (build Pinocchio with Boost.Multiprecision support)
  • build_sdf (build Pinocchio with SDF parser)
  • build_accelerate (build Pinocchio with APPLE Accelerate framework support)
  • build_all (build Pinocchio with ALL the options stated above)

Thanks.
The Pinocchio development team.

@ManifoldFR
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Great work again @nim65s :)

jcarpent
jcarpent requested changes Sep 16, 2024
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Thanks @nim65s for the cleanage of the code.
Could you squeeze everything into a single commit?

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nim65s commented Sep 16, 2024

done

@nim65s nim65s force-pushed the ruff branch 2 times, most recently from 5450ed5 to 2c0d8b9 Compare September 16, 2024 17:36
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nim65s commented Sep 20, 2024

macos CI is consistently failing with:

CMake Error at CMakeLists.txt:324 (message):
  Your version of Eigen is too low.  Should be at least 3.4.90.  Current
  version is 3.4.0.

windows CI is failing with

C:\Miniconda\envs\pinocchio\Library\include\cppad/cg/cg.hpp(217): error C2143: syntax error: missing ';' before '<'
C:\Miniconda\envs\pinocchio\Library\include\cppad/cg/cg.hpp(217): error C2433: 'CppAD::cg::NearEqual': 'friend' not permitted on data declarations
C:\Miniconda\envs\pinocchio\Library\include\cppad/cg/cg.hpp(217): error C2365: 'CppAD::cg::NearEqual': redefinition; previous definition was 'function'

In both cases, this is not related to this PR.

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macos CI is consistently failing with:

CMake Error at CMakeLists.txt:324 (message):
  Your version of Eigen is too low.  Should be at least 3.4.90.  Current
  version is 3.4.0.

For this issue, I've removed the support Apple Accelerate for build_all

@jcarpent jcarpent merged commit 500e6a9 into stack-of-tasks:devel Sep 22, 2024
14 of 20 checks passed
nim65s added a commit to nim65s/robotpkg that referenced this pull request Nov 8, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.3.0
c20fc90 
    ## [3.3.0] - 2024-11-06

    ### Added

    - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
    - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
    - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
    - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
    - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
    - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
    - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
    - Add Pixi support stack-of-tasks/pinocchio#2459

    ### Fixed
    - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
    - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
    - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
    - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
    - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
    - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
    - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
    - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
    - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
    - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
    - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466

    ### Changed

    - Modernize python code base with ruff stack-of-tasks/pinocchio#2418
    - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
nim65s added a commit to nim65s/robotpkg that referenced this pull request Nov 21, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.3.0
18b8898 
    ## [3.3.0] - 2024-11-06

    ### Added

    - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
    - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
    - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
    - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
    - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
    - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
    - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
    - Add Pixi support stack-of-tasks/pinocchio#2459

    ### Fixed
    - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
    - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
    - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
    - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
    - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
    - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
    - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
    - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
    - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
    - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
    - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466

    ### Changed

    - Modernize python code base with ruff stack-of-tasks/pinocchio#2418
    - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
nim65s added a commit to nim65s/robotpkg that referenced this pull request Dec 6, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.3.0
2dae48c 
    ## [3.3.0] - 2024-11-06

    ### Added

    - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
    - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
    - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
    - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
    - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
    - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
    - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
    - Add Pixi support stack-of-tasks/pinocchio#2459

    ### Fixed
    - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
    - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
    - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
    - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
    - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
    - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
    - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
    - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
    - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
    - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
    - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466

    ### Changed

    - Modernize python code base with ruff stack-of-tasks/pinocchio#2418
    - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
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@nim65s @hrp2-14 @ManifoldFR @jcarpent