Merge pull request #48 from ami-iit/flferretti-patch-1

Add `pre-commit.ci` for style and lint checking

.pre-commit-config.yaml

@@ -0,0 +1,34 @@
+ci:
+  autofix_prs: false
+  autoupdate_schedule: quarterly
+  submodules: false
+
+default_language_version:
+  python: python3
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+    - id: check-ast
+    - id: check-merge-conflict
+    - id: check-yaml
+    - id: end-of-file-fixer
+    - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black-pre-commit-mirror
+    rev: 24.8.0
+    hooks:
+      - id: black
+        args: ["--check", "--diff"]
+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: ["--check", "--diff"]
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.6.9
+    hooks:
+      - id: ruff

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2022, Artificial and Mechanical Intelligence 
+Copyright (c) 2022, Artificial and Mechanical Intelligence
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -62,7 +62,7 @@ Installing ROD using `conda` is the recommended way to obtain a complete install
 conda install rod -c conda-forge
 ```
 
-This will automatically install `sdformat` and `gz-tools`. 
+This will automatically install `sdformat` and `gz-tools`.
 
 </details>
 
@@ -242,7 +242,7 @@ print(urdf_string)
 
 ## Contributing
 
-Pull requests are welcome. 
+Pull requests are welcome.
 For major changes, please open an issue first to discuss what you would like to change.
 
 ## Maintainers

pyproject.toml

@@ -18,3 +18,47 @@ multi_line_output = 3
 
 [tool.cibuildwheel]
 build-frontend = "build"
+
+
+# ==================
+# Ruff configuration
+# ==================
+
+[tool.ruff]
+exclude = [
+    ".git",
+    ".pytest_cache",
+    ".ruff_cache",
+    ".vscode",
+    ".devcontainer",
+    "__pycache__",
+]
+preview = true
+
+[tool.ruff.lint]
+# https://docs.astral.sh/ruff/rules/
+select = [
+    "B",
+    "E",
+    "F",
+    "I",
+    "W",
+    "RUF",
+    "UP",
+    "YTT",
+]
+
+ignore = [
+    "B008", # Function call in default argument
+    "B024", # Abstract base class without abstract methods
+    "E402", # Module level import not at top of file
+    "E501", # Line too long
+    "E731", # Do not assign a `lambda` expression, use a `def`
+    "E741", # Ambiguous variable name
+    "I001", # Import block is unsorted or unformatted
+    "RUF003", # Ambigous unicode character in comment
+]
+
+[tool.ruff.lint.per-file-ignores]
+# Ignore `E402` (import violations) in all `__init__.py` files
+"__init__.py" = ["F401", "F821"]

src/rod/builder/primitive_builder.py

@@ -121,7 +121,7 @@ def add_inertial(
         pose: rod.Pose | None = None,
         inertial: rod.Inertial | None = None,
     ) -> PrimitiveBuilder:
-        if not isinstance(self.element, (rod.Model, rod.Link)):
+        if not isinstance(self.element, rod.Model | rod.Link):
             raise ValueError(type(self.element))
 
         if isinstance(self.element, rod.Model):
@@ -151,7 +151,7 @@ def add_visual(
         pose: rod.Pose | None = None,
         visual: rod.Visual | None = None,
     ) -> PrimitiveBuilder:
-        if not isinstance(self.element, (rod.Model, rod.Link)):
+        if not isinstance(self.element, rod.Model | rod.Link):
             raise ValueError(type(self.element))
 
         if isinstance(self.element, rod.Model):
@@ -187,7 +187,7 @@ def add_collision(
         pose: rod.Pose | None = None,
         collision: rod.Collision | None = None,
     ) -> PrimitiveBuilder:
-        if not isinstance(self.element, (rod.Model, rod.Link)):
+        if not isinstance(self.element, rod.Model | rod.Link):
             raise ValueError(type(self.element))
 
         if isinstance(self.element, rod.Model):

src/rod/kinematics/kinematic_tree.py

@@ -3,7 +3,7 @@
 import copy
 import dataclasses
 import functools
-from typing import Sequence
+from collections.abc import Sequence
 
 import numpy as np
 

src/rod/kinematics/tree_transforms.py

@@ -13,7 +13,9 @@
 
 @dataclasses.dataclass
 class TreeTransforms:
-    kinematic_tree: KinematicTree = dataclasses.dataclass(init=False)
+    kinematic_tree: KinematicTree = dataclasses.field(
+        default_factory=dataclasses.dataclass(init=False)
+    )
     _transform_cache: dict[str, npt.NDArray] = dataclasses.field(default_factory=dict)
 
     @staticmethod

src/rod/pretty_printer.py

@@ -13,7 +13,7 @@ def list_to_string(obj: list[Any], level: int = 1) -> str:
         if not isinstance(obj, list):
             raise TypeError(obj, type(obj))
 
-        if all(isinstance(el, (numbers.Number, str)) for el in obj):
+        if all(isinstance(el, numbers.Number | str) for el in obj):
             return str(obj)
 
         spacing = " " * 4

src/rod/sdf/geometry.py

@@ -2,10 +2,12 @@
 
 import dataclasses
 import types
-from typing import ClassVar, Union
+from typing import ClassVar
 
 import mashumaro
 
+from rod import logging
+
 from .element import Element
 
 

src/rod/sdf/joint.py

@@ -1,5 +1,4 @@
 import dataclasses
-from typing import Optional
 
 import mashumaro
 
@@ -10,32 +9,32 @@
 @dataclasses.dataclass
 class Limit(Element):
 
-    lower: Optional[float] = dataclasses.field(
+    lower: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    upper: Optional[float] = dataclasses.field(
+    upper: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    effort: Optional[float] = dataclasses.field(
+    effort: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    velocity: Optional[float] = dataclasses.field(
+    velocity: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    stiffness: Optional[float] = dataclasses.field(
+    stiffness: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    dissipation: Optional[float] = dataclasses.field(
+    dissipation: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
@@ -51,12 +50,12 @@ class Dynamics(Element):
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    damping: Optional[float] = dataclasses.field(
+    damping: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    friction: Optional[float] = dataclasses.field(
+    friction: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
@@ -66,7 +65,7 @@ class Dynamics(Element):
 class Axis(Element):
     xyz: Xyz
     limit: Limit
-    dynamics: Optional[Dynamics] = dataclasses.field(default=None)
+    dynamics: Dynamics | None = dataclasses.field(default=None)
 
 
 @dataclasses.dataclass
@@ -78,4 +77,4 @@ class Joint(Element):
     child: str
 
     pose: Pose | None = dataclasses.field(default=None)
-    axis: Optional[Axis] = dataclasses.field(default=None)
+    axis: Axis | None = dataclasses.field(default=None)

src/rod/sdf/physics.py

@@ -1,5 +1,4 @@
 import dataclasses
-from typing import Optional
 
 import mashumaro
 
@@ -39,7 +38,7 @@ class Physics(Element):
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    max_contacts: Optional[float] = dataclasses.field(
+    max_contacts: float | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )

src/rod/sdf/visual.py

@@ -1,5 +1,4 @@
 import dataclasses
-from typing import Optional
 
 import mashumaro
 
@@ -17,4 +16,4 @@ class Visual(Element):
 
     pose: Pose | None = dataclasses.field(default=None)
 
-    material: Optional[Material] = dataclasses.field(default=None)
+    material: Material | None = dataclasses.field(default=None)

src/rod/tree/directed_tree.py

@@ -1,13 +1,13 @@
-import collections.abc
 import dataclasses
 import functools
-from typing import Any, Callable, Iterable
+from collections.abc import Callable, Iterable, Sequence
+from typing import Any
 
 from .tree_elements import DirectedTreeNode
 
 
 @dataclasses.dataclass(frozen=True)
-class DirectedTree(collections.abc.Sequence):
+class DirectedTree(Sequence):
     root: DirectedTreeNode
 
     def __post_init__(self):

src/rod/urdf/exporter.py

@@ -1,7 +1,7 @@
 import abc
 import copy
 import dataclasses
-from typing import Any, ClassVar, Set
+from typing import Any, ClassVar
 
 import numpy as np
 import xmltodict
@@ -25,7 +25,7 @@ class UrdfExporter(abc.ABC):
     # If a list of strings is passed, only the listed fixed joints will be preserved.
     gazebo_preserve_fixed_joints: bool | list[str] = False
 
-    SupportedSdfJointTypes: ClassVar[Set[str]] = {
+    SupportedSdfJointTypes: ClassVar[set[str]] = {
         "revolute",
         "continuous",
         "prismatic",

src/rod/utils/frame_convention.py

@@ -193,9 +193,7 @@ def switch_frame_convention(
     # Adjust the reference frames of all sub-models
     for sub_model in model.models():
         logging.info(
-            "Model composition not yet supported, ignoring '{}/{}'".format(
-                model.name, sub_model.name
-            )
+            f"Model composition not yet supported, ignoring '{model.name}/{sub_model.name}'"
         )
 
     # Adjust the reference frames of all joints
@@ -312,7 +310,7 @@ def find_parent_link_of_frame(frame: rod.Frame, model: rod.Model) -> str:
             )
 
     # At this point, the parent is either a link or another frame.
-    assert isinstance(parent, (rod.Link, rod.Frame))
+    assert isinstance(parent, rod.Link | rod.Frame)
 
     match parent:
         # If the parent is a link, can stop searching.