ami-iit · diegoferigo · Feb 8, 2023 · Feb 8, 2023 · Feb 8, 2023 · Feb 8, 2023
@@ -22,7 +22,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: 3.8
+          python-version: "3.10"
 
       - name: Install Python tools
         run: pip install build twine
@@ -60,7 +60,7 @@ jobs:
           - "3.8"
           - "3.9"
           - "3.10"
-          # - "3.11"
+          - "3.11"
 
     steps:
 

@@ -22,7 +22,7 @@ jobs:
       - name: '🐍 Initialize Python'
         uses: actions/setup-python@v2
         with:
-          python-version: "3.8"
+          python-version: "3.10"
 
       - name: "📝 Black Code Formatter"
         uses: psf/black@stable
@@ -42,7 +42,10 @@ jobs:
       - name: '🐍 Initialize Python'
         uses: actions/setup-python@v2
         with:
-          python-version: "3.8"
+          python-version: "3.10"
+
+      # Workaround for https://github.com/isort/isort-action/issues/70
+      - run: pip install colorama
 
       - name: "📝 isort"
         uses: isort/isort-action@master

@@ -25,7 +25,6 @@
 
 
 def _is_editable():
-
     import importlib.util
     import pathlib
     import site

@@ -12,14 +12,12 @@
 
 @dataclasses.dataclass(frozen=True)
 class KinematicTree(DirectedTree):
-
     model: "rod.Model"
 
     joints: List[TreeEdge] = dataclasses.field(default_factory=list)
     frames: List[TreeFrame] = dataclasses.field(default_factory=list)
 
     def __post_init__(self):
-
         # Initialize base class
         super().__post_init__()
 
@@ -49,7 +47,6 @@ def joint_names(self) -> List[str]:
 
     @staticmethod
     def build(model: "rod.Model", is_top_level: bool = True) -> "KinematicTree":
-
         logging.debug(msg=f"Building kinematic tree of model '{model.name}'")
 
         if model.model is not None:
@@ -130,7 +127,6 @@ def build(model: "rod.Model", is_top_level: bool = True) -> "KinematicTree":
 
         # Use joints to connect nodes by defining their parent and children
         for joint in model.joints():
-
             if joint.child == TreeFrame.WORLD:
                 msg = f"A joint cannot have '{TreeFrame.WORLD}' as child"
                 raise RuntimeError(msg)
@@ -184,7 +180,6 @@ def build(model: "rod.Model", is_top_level: bool = True) -> "KinematicTree":
         expected_num_extra_joints = 1 if model.is_fixed_base() else 0
 
         if found_num_extra_joints != expected_num_extra_joints:
-
             if model.is_fixed_base() and found_num_extra_joints == 0:
                 raise RuntimeError("Failed to find joint connecting the model to world")
 
@@ -193,7 +188,6 @@ def build(model: "rod.Model", is_top_level: bool = True) -> "KinematicTree":
 
         # Handle connection to world of fixed-base models
         if model.is_fixed_base():
-
             assert len(joints_not_in_tree) == 1
             world_to_base_joint = joints_not_in_tree[0]
 
@@ -227,7 +221,6 @@ def build(model: "rod.Model", is_top_level: bool = True) -> "KinematicTree":
             assert world_node is not None
 
         else:
-
             # Remove the world node from the nodes dictionary since it's unconnected...
             world_node = nodes_links_dict.pop(TreeFrame.WORLD)
 
@@ -260,7 +253,6 @@ def build(model: "rod.Model", is_top_level: bool = True) -> "KinematicTree":
     def remove_edge(
         edge: TreeEdge, keep_parent: bool = True
     ) -> Tuple[DirectedTreeNode, Sequence[TreeFrame]]:
-
         # Removed node: the node to remove.
         # Replaced node: the node removed and replaced with the new node.
         # New node: the new node that combines the removed and replaced nodes.
@@ -292,7 +284,6 @@ def remove_edge(
 
         # Check if a link has non-trivial inertial parameters
         def has_zero_inertial(link: rod.Link) -> bool:
-
             if not isinstance(link, rod.Link):
                 return True
 
@@ -319,20 +310,16 @@ def has_zero_inertial(link: rod.Link) -> bool:
 
     @functools.cached_property
     def links_dict(self) -> Dict[str, DirectedTreeNode]:
-
         return self.nodes_dict
 
     @functools.cached_property
     def frames_dict(self) -> Dict[str, TreeFrame]:
-
         return {frame.name(): frame for frame in self.frames}
 
     @functools.cached_property
     def joints_dict(self) -> Dict[str, TreeEdge]:
-
         return {joint.name(): joint for joint in self.joints}
 
     @functools.cached_property
     def joints_connection_dict(self) -> Dict[Tuple[str, str], TreeEdge]:
-
         return {(j.parent.name(), j.child.name()): j for j in self.joints}
@@ -11,7 +11,6 @@
 
 @dataclasses.dataclass
 class TreeTransforms:
-
     kinematic_tree: KinematicTree = dataclasses.dataclass(init=False)
 
     @staticmethod
@@ -20,7 +19,6 @@ def build(
         is_top_level: bool = True,
         prevent_switching_frame_convention: bool = False,
     ) -> "TreeTransforms":
-
         model = copy.deepcopy(model)
 
         model.resolve_frames(is_top_level=is_top_level, explicit_frames=True)
@@ -33,18 +31,15 @@ def build(
         )
 
     def transform(self, name: str) -> npt.NDArray:
-
         if name == TreeFrame.WORLD:
             return np.eye(4)
 
         if name in {TreeFrame.MODEL, self.kinematic_tree.model.name}:
-
             relative_to = self.kinematic_tree.model.pose.relative_to
             assert relative_to in {None, ""}, (relative_to, name)
             return self.kinematic_tree.model.pose.transform()
 
         if name in self.kinematic_tree.joint_names():
-
             edge = self.kinematic_tree.joints_dict[name]
             assert edge.name() == name
 
@@ -63,7 +58,6 @@ def transform(self, name: str) -> npt.NDArray:
             name in self.kinematic_tree.link_names()
             or name in self.kinematic_tree.frame_names()
         ):
-
             element = (
                 self.kinematic_tree.links_dict[name]
                 if name in self.kinematic_tree.link_names()
@@ -84,7 +78,6 @@ def transform(self, name: str) -> npt.NDArray:
         raise ValueError(name)
 
     def relative_transform(self, relative_to: str, name: str) -> npt.NDArray:
-
         return np.linalg.inv(self.transform(name=relative_to)) @ self.transform(
             name=name
         )
@@ -8,7 +8,6 @@
 
 
 class LoggingLevel(enum.IntEnum):
-
     NOTSET = logging.NOTSET
     DEBUG = logging.DEBUG
     INFO = logging.INFO
@@ -18,26 +17,22 @@ class LoggingLevel(enum.IntEnum):
 
 
 def _logger() -> logging.Logger:
-
     return logging.getLogger(name=LOGGER_NAME)
 
 
 def set_logging_level(level: Union[int, LoggingLevel] = LoggingLevel.WARNING):
-
     if isinstance(level, int):
         level = LoggingLevel(level)
 
     _logger().setLevel(level=level.value)
 
 
 def get_logging_level() -> LoggingLevel:
-
     level = _logger().getEffectiveLevel()
     return LoggingLevel(level)
 
 
 def configure(level: LoggingLevel = LoggingLevel.WARNING) -> None:
-
     info(f"Configuring the '{LOGGER_NAME}' logger")
 
     handler = logging.StreamHandler()
@@ -53,30 +48,24 @@ def configure(level: LoggingLevel = LoggingLevel.WARNING) -> None:
 
 
 def debug(msg: str = "") -> None:
-
     _logger().debug(msg=msg)
 
 
 def info(msg: str = "") -> None:
-
     _logger().info(msg=msg)
 
 
 def warning(msg: str = "") -> None:
-
     _logger().warning(msg=msg)
 
 
 def error(msg: str = "") -> None:
-
     _logger().error(msg=msg)
 
 
 def critical(msg: str = "") -> None:
-
     _logger().critical(msg=msg)
 
 
 def exception(msg: str = "") -> None:
-
     _logger().exception(msg=msg)
@@ -6,12 +6,10 @@
 
 class DataclassPrettyPrinter(abc.ABC):
     def to_string(self) -> str:
-
         return DataclassPrettyPrinter.dataclass_to_str(obj=self, level=1)
 
     @staticmethod
     def list_to_string(obj: List[Any], level: int = 1) -> str:
-
         if not isinstance(obj, list):
             raise TypeError(obj, type(obj))
 
@@ -37,37 +35,32 @@ def list_to_string(obj: List[Any], level: int = 1) -> str:
 
     @staticmethod
     def dataclass_to_str(obj: Any, level: int = 1) -> str:
-
         if not dataclasses.is_dataclass(obj):
             raise TypeError(obj, type(obj))
 
         serialization: List[Tuple[str, str]] = []
 
         for field in dataclasses.fields(obj):
-
             attr = getattr(obj, field.name)
 
             if attr is None or attr == "":
                 continue
 
             elif isinstance(attr, list):
-
                 list_str = DataclassPrettyPrinter.list_to_string(
                     obj=attr, level=level + 1
                 )
                 serialization += [(field.name, list_str)]
                 continue
 
             elif dataclasses.is_dataclass(attr):
-
                 dataclass_str = DataclassPrettyPrinter.dataclass_to_str(
                     obj=attr, level=level + 1
                 )
                 serialization += [(field.name, dataclass_str)]
                 continue
 
             else:
-
                 serialization += [(field.name, f"{attr!s}")]
                 continue
 

@@ -10,7 +10,6 @@
 
 @dataclasses.dataclass
 class Collision(Element):
-
     geometry: Geometry
     name: str = dataclasses.field(metadata=mashumaro.field_options(alias="@name"))
 

@@ -9,7 +9,6 @@
 
 @dataclasses.dataclass
 class Xyz(Element):
-
     xyz: List[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
@@ -25,7 +24,6 @@ class Xyz(Element):
 
     @classmethod
     def __pre_deserialize__(cls, d: Dict[Any, Any]) -> Dict[Any, Any]:
-
         if isinstance(d, str):
             d = {"#text": d, "@expressed_in": ""}
 
@@ -34,7 +32,6 @@ def __pre_deserialize__(cls, d: Dict[Any, Any]) -> Dict[Any, Any]:
 
 @dataclasses.dataclass
 class Pose(Element):
-
     pose: List[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
@@ -58,7 +55,6 @@ class Pose(Element):
 
     @classmethod
     def __pre_deserialize__(cls, d: Dict[Any, Any]) -> Dict[Any, Any]:
-
         if isinstance(d, str):
             d = {"#text": d, "@relative_to": ""}
 
@@ -73,7 +69,6 @@ def rpy(self) -> List[float]:
         return self.pose[3:6]
 
     def transform(self) -> npt.NDArray:
-
         import numpy as np
         from scipy.spatial.transform import Rotation as R
 
@@ -95,7 +90,6 @@ def transform(self) -> npt.NDArray:
 
     @staticmethod
     def from_transform(transform: npt.NDArray, relative_to: str = None) -> "Pose":
-
         if transform.shape != (4, 4):
             raise ValueError(transform.shape)
 
@@ -109,7 +103,6 @@ def from_transform(transform: npt.NDArray, relative_to: str = None) -> "Pose":
 
 @dataclasses.dataclass
 class Frame(Element):
-
     name: str = dataclasses.field(metadata=mashumaro.field_options(alias="@name"))
 
     attached_to: Optional[str] = dataclasses.field(