[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

Author: pre-commit-ci[bot]

src/pyhpp/core/problem.cc

@@ -31,16 +31,15 @@
 #include "pyhpp/core/problem.hh"
 
 #include <boost/python.hpp>
+#include <hpp/core/collision-validation.hh>
 #include <hpp/core/config-validations.hh>
 #include <hpp/core/configuration-shooter.hh>
 #include <hpp/core/distance.hh>
+#include <hpp/core/joint-bound-validation.hh>
 #include <hpp/core/path-projector.hh>
 #include <hpp/core/path-validation.hh>
 #include <hpp/core/problem-target.hh>
 #include <hpp/core/problem.hh>
-#include <hpp/core/collision-validation.hh>
-#include <hpp/core/joint-bound-validation.hh>
-
 #include <hpp/core/steering-method.hh>
 #include <pyhpp/core/steering-method.hh>
 namespace pyhpp {
@@ -67,7 +66,6 @@ void Problem::setParameterInt(const std::string& name, size_type value) {
   obj->setParameter(name, param);
 }
 
-
 void Problem::addConfigValidation(const std::string& type) {
   hpp::core::ConfigValidationPtr_t validation;
   if (type == "CollisionValidation")
@@ -77,9 +75,7 @@ void Problem::addConfigValidation(const std::string& type) {
   obj->addConfigValidation(validation);
 }
 
-void Problem::clearConfigValidations() {
-  obj->clearConfigValidations();
-}
+void Problem::clearConfigValidations() { obj->clearConfigValidations(); }
 
 const Parameter& Problem::getParameter(const std::string& name) const {
   return obj->getParameter(name);
@@ -142,9 +138,7 @@ void Problem::addGoalConfig(ConfigurationIn_t config) {
   obj->addGoalConfig(config);
 }
 
-void Problem::resetGoalConfigs() {
-  obj->resetGoalConfigs();
-}
+void Problem::resetGoalConfigs() { obj->resetGoalConfigs(); }
 
 typedef PyWSteeringMethodPtr_t (Problem::*GetSteeringMethod)() const;
 typedef void (Problem::*SetSteeringMethod)(const PyWSteeringMethodPtr_t&);

src/pyhpp/pinocchio/device.cc

@@ -33,8 +33,8 @@
 #include <hpp/pinocchio/device-data.hh>
 #include <hpp/pinocchio/device.hh>
 #include <hpp/pinocchio/frame.hh>
-#include <hpp/pinocchio/joint.hh>
 #include <hpp/pinocchio/gripper.hh>
+#include <hpp/pinocchio/joint.hh>
 #include <hpp/pinocchio/liegroup-space.hh>
 #include <pinocchio/multibody/data.hpp>
 #include <pinocchio/multibody/geometry.hpp>
@@ -95,7 +95,7 @@ typedef hpp::pinocchio::Frame Frame;
 typedef hpp::pinocchio::JointPtr_t JointPtr_t;
 
 static void setJointBounds(Device& device, const char* jointName,
-                            boost::python::list py_jointBounds) {
+                           boost::python::list py_jointBounds) {
   Frame frame = device.getFrameByName(jointName);
   JointPtr_t joint = frame.joint();
   auto jointBounds = extract_vector<value_type>(py_jointBounds);
@@ -178,7 +178,6 @@ void exposeDevice() {
            &Device::computeFramesForwardKinematics)
       .def("updateGeometryPlacements", &Device::updateGeometryPlacements)
       .def("setJointBounds", &setJointBounds);
-
 }
 }  // namespace pinocchio
 }  // namespace pyhpp

tests/benchmarks/ur3-spheres-spf.py

@@ -11,7 +11,14 @@
 from argparse import ArgumentParser
 
 from pyhpp.manipulation.constraint_graph_factory import ConstraintGraphFactory
-from pyhpp.manipulation import Device, Graph, Problem, createProgressiveProjector, urdf, StatesPathFinder
+from pyhpp.manipulation import (
+    Device,
+    Graph,
+    Problem,
+    createProgressiveProjector,
+    urdf,
+    StatesPathFinder,
+)
 from pyhpp.core import createDichotomy, Straight
 
 from pyhpp.constraints import (
@@ -24,7 +31,7 @@
 from pinocchio import SE3, Quaternion
 
 parser = ArgumentParser()
-parser.add_argument('-N', default=20, type=int)
+parser.add_argument("-N", default=20, type=int)
 args = parser.parse_args()
 
 # Robot and environment file paths
@@ -50,8 +57,13 @@
 
 # Load ground
 urdf.loadModel(
-    robot, 0, "ground", "anchor", ground_urdf, ground_srdf, 
-    SE3(rotation=np.identity(3), translation=np.array([0, 0, 0]))
+    robot,
+    0,
+    "ground",
+    "anchor",
+    ground_urdf,
+    ground_srdf,
+    SE3(rotation=np.identity(3), translation=np.array([0, 0, 0])),
 )
 
 # Load spheres to be manipulated
@@ -111,7 +123,7 @@
     o = objects[i]
     h = robot.handles()[o + "/handle"]
     h.mask = [True, True, True, False, True, True]
-    
+
     # placement constraint
     placementName = "place_sphere{0}".format(i)
     Id = SE3.Identity()
@@ -135,7 +147,7 @@
     implicit_mask = [True, True, True]
     implicitPlacementConstraint = Implicit.create(pc, cts, implicit_mask)
     constraints[placementName] = implicitPlacementConstraint
-    
+
     # placement complement constraint
     pc = Transformation.create(
         placementName + "/complement",
@@ -200,14 +212,48 @@
     constraints[preplacementName] = implicitPrePlacementConstraint
 
 q_init = [
-    pi / 6, -pi / 2, pi / 2, 0, 0, 0,
-    0.2, 0, 0.02, 0, 0, 0, 1,
-    0.3, 0, 0.02, 0, 0, 0, 1,
+    pi / 6,
+    -pi / 2,
+    pi / 2,
+    0,
+    0,
+    0,
+    0.2,
+    0,
+    0.02,
+    0,
+    0,
+    0,
+    1,
+    0.3,
+    0,
+    0.02,
+    0,
+    0,
+    0,
+    1,
 ]
 q_goal = [
-    pi / 6, -pi / 2, pi / 2, 0, 0, 0,
-    0.3, 0, 0.02, 0, 0, 0, 1,
-    0.2, 0, 0.02, 0, 0, 0, 1,
+    pi / 6,
+    -pi / 2,
+    pi / 2,
+    0,
+    0,
+    0,
+    0.3,
+    0,
+    0.02,
+    0,
+    0,
+    0,
+    1,
+    0.2,
+    0,
+    0.02,
+    0,
+    0,
+    0,
+    1,
 ]
 
 factory = ConstraintGraphFactory(cg, constraints)
@@ -285,4 +331,4 @@
     print(f"Success rate: {success / args.N * 100}%")
     if success > 0:
         print(f"Average time per success: {totalTime.total_seconds() / success}")
-        print(f"Average number nodes per success: {totalNumberNodes / success}")
+        print(f"Average number nodes per success: {totalNumberNodes / success}")