ruff manual fixes

agimus-project · Feb 10, 2025 · a67bf98 · a67bf98
1 parent 7a40c90
commit a67bf98
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Showing 3 changed files with 43 additions and 9 deletions.
diff --git a/examples/benchmark.py b/examples/benchmark.py
@@ -5,8 +5,8 @@
 # All rights reserved.
 
 import argparse
-import os
 import time
+from pathlib import Path
 
 import create_ocp
 import crocoddyl
@@ -60,7 +60,7 @@ def scene_type(value):
 robot_wrapper = PandaWrapper(capsule=False)
 rmodel, cmodel, vmodel = robot_wrapper()
 
-yaml_path = os.path.join(os.path.dirname(__file__), "scenes.yaml")
+yaml_path = Path(__file__).parent / "scenes.yaml"
 pp = ParamParser(yaml_path, args.scene)
 
 cmodel = pp.add_collisions(rmodel, cmodel)

diff --git a/examples/main_ocp_interactive.py b/examples/main_ocp_interactive.py
@@ -5,7 +5,7 @@
 # All rights reserved.
 
 import argparse
-import os
+from pathlib import Path
 
 import create_ocp
 import pinocchio as pin
@@ -59,7 +59,7 @@ def scene_type(value):
 robot_wrapper = PandaWrapper(capsule=False)
 rmodel, cmodel, vmodel = robot_wrapper()
 
-yaml_path = os.path.join(os.path.dirname(__file__), "scenes.yaml")
+yaml_path = Path(__file__).parent / "scenes.yaml"
 pp = ParamParser(yaml_path, args.scene)
 
 cmodel = pp.add_collisions(rmodel, cmodel)

diff --git a/examples/simulation.py b/examples/simulation.py
@@ -219,12 +219,46 @@ def simulation_loop(
             q = xs[1][:7]
             if not ok:
                 print("Failed to solve the problem")
-            # print("u: ", np.array2string(np.array(us), precision=2, separator=", ", suppress_small=True))
-            # print("q: ", np.array2string(np.array(xs)[:,:7], precision=2, separator=", ", suppress_small=True))
-            # print("q1: ", np.array2string(xs[1][:7], precision=2, separator=", ", suppress_small=True))
-            # print("diff: ", np.array2string(xs[1][:7] - xs[0][:7], precision=2, separator=", ", suppress_small=True))
+            # print(
+            # "u: ",
+            # np.array2string(
+            # np.array(us), precision=2, separator=", ", suppress_small=True
+            # ),
+            # )
+            # print(
+            # "q: ",
+            # np.array2string(
+            # np.array(xs)[:, :7],
+            # precision=2,
+            # separator=", ",
+            # suppress_small=True,
+            # ),
+            # )
+            # print(
+            # "q1: ",
+            # np.array2string(
+            # xs[1][:7], precision=2, separator=", ", suppress_small=True
+            # ),
+            # )
+            # print(
+            # "diff: ",
+            # np.array2string(
+            # xs[1][:7] - xs[0][:7],
+            # precision=2,
+            # separator=", ",
+            # suppress_small=True,
+            # ),
+            # )
             # for q0, q1 in zip(xs[:-1], xs[1:]):
-            #     print("diff: ", np.array2string(q1[:7] - q0[:7], precision=2, separator=", ", suppress_small=True))
+            # print(
+            # "diff: ",
+            # np.array2string(
+            # q1[:7] - q0[:7],
+            # precision=2,
+            # separator=", ",
+            # suppress_small=True,
+            # ),
+            # )
 
             # Shift the trajectory
             xs[:-1] = xs[1:]