pre-commit: fix missing parts

bindings/python/pinocchio/shortcuts.py

@@ -1,12 +1,10 @@
 # ruff: noqa: E501
 #
-# Copyright (c) 2018-2020 CNRS INRIA
+# Copyright (c) 2018-2024 CNRS INRIA
 #
 
 ## In this file, some shortcuts are provided ##
 
-from typing import Tuple
-
 from . import WITH_HPP_FCL, WITH_HPP_FCL_BINDINGS
 from . import pinocchio_pywrap_default as pin
 
@@ -15,7 +13,7 @@
 
 def buildModelsFromUrdf(
     filename, *args, **kwargs
-) -> Tuple[pin.Model, pin.GeometryModel, pin.GeometryModel]:
+) -> tuple[pin.Model, pin.GeometryModel, pin.GeometryModel]:
     """Parse the URDF file given in input and return a Pinocchio Model followed by corresponding GeometryModels of types specified by geometry_types, in the same order as listed.
     Arguments:
         - filename - name of the urdf file to load
@@ -26,7 +24,7 @@ def buildModelsFromUrdf(
         - meshLoader - object used to load meshes (default - hpp::fcl::MeshLoader)
         - geometry_types - Which geometry model to load. Can be pin.GeometryType.COLLISION, pin.GeometryType.VISUAL or both. (default - [pin.GeometryType.COLLISION, pin.GeometryType.VISUAL])
     Return:
-        Tuple of the models, in this order : model, collision model, and visual model.
+        tuple of the models, in this order : model, collision model, and visual model.
 
     Example:
         model, collision_model, visual_model = buildModelsFromUrdf(filename, root_joint, verbose, meshLoader, geometry_types, root_joint_name="root_joint_name")
@@ -63,7 +61,7 @@ def _buildModelsFromUrdf(
     verbose=False,
     meshLoader=None,
     geometry_types=None,
-) -> Tuple[pin.Model, pin.GeometryModel, pin.GeometryModel]:
+) -> tuple[pin.Model, pin.GeometryModel, pin.GeometryModel]:
     if geometry_types is None:
         geometry_types = [pin.GeometryType.COLLISION, pin.GeometryType.VISUAL]
 
@@ -119,7 +117,7 @@ def createDatas(*models):
 
 def buildModelsFromSdf(
     filename, *args, **kwargs
-) -> Tuple[pin.Model, pin.GeometryModel, pin.GeometryModel]:
+) -> tuple[pin.Model, pin.GeometryModel, pin.GeometryModel]:
     """Parse the Sdf file given in input and return a Pinocchio Model and a list of Constraint Models, followed by corresponding GeometryModels of types specified by geometry_types, in the same order as listed.
     Arguments:
         - filename - name of the urdf file to load
@@ -132,7 +130,7 @@ def buildModelsFromSdf(
         - meshLoader - object used to load meshes (default - hpp::fcl::MeshLoader)
         - geometry_types - Which geometry model to load. Can be pin.GeometryType.COLLISION, pin.GeometryType.VISUAL, both or None. (default - None])
     Return:
-        Tuple of the models, in this order : model, collision model, and visual model.
+        tuple of the models, in this order : model, collision model, and visual model.
 
     Example:
         model, collision_model, visual_model = buildModelsFromSdf(filename, root_joint, root_link_name, parent_guidance, verbose, meshLoader, geometry_types, root_joint_name="root_joint_name")
@@ -241,7 +239,7 @@ def buildModelsFromMJCF(filename, *args, **kwargs):
         - geometry_types - Which geometry model to load. Can be pin.GeometryType.COLLISION, pin.GeometryType.VISUAL or both. (default - [pin.GeometryType.COLLISION, pin.GeometryType.VISUAL])
         - contacts - Boolean to know if contraint models are wanted (default - False)
     Return:
-        Tuple of the models, in this order : model, collision model, and visual model, or  model, constraint_list, collision model, and visual model, if contacts is True.
+        tuple of the models, in this order : model, collision model, and visual model, or  model, constraint_list, collision model, and visual model, if contacts is True.
 
     Example:
         model, collision_model, visual_model = buildModelsFromMJCF(filename, root_joint, verbose, meshLoader, geometry_types, root_joint_name="root_joint_name")

bindings/python/pinocchio/utils.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2015-2022 CNRS INRIA
+# Copyright (c) 2015-2024 CNRS INRIA
 #
 
 
@@ -96,17 +96,17 @@ def fromListToVectorOfString(items):
 
 
 __all__ = [
-    "np",
-    "npl",
     "eye",
-    "zero",
-    "rand",
+    "fromListToVectorOfString",
     "isapprox",
+    "matrixToRpy",
     "mprint",
+    "np",
     "npToTTuple",
     "npToTuple",
+    "npl",
+    "rand",
     "rotate",
     "rpyToMatrix",
-    "matrixToRpy",
-    "fromListToVectorOfString",
+    "zero",
 ]

bindings/python/pinocchio/visualize/meshcat_visualizer.py

@@ -1,6 +1,6 @@
 import warnings
 from pathlib import Path
-from typing import ClassVar, List
+from typing import ClassVar, list
 
 import numpy as np
 
@@ -21,9 +21,9 @@
 
 # DaeMeshGeometry
 import xml.etree.ElementTree as Et
-from typing import Any, Dict, Optional, Set, Union
+from typing import Any, Optional, Union
 
-MsgType = Dict[str, Union[str, bytes, bool, float, "MsgType"]]
+MsgType = dict[str, Union[str, bytes, bool, float, "MsgType"]]
 
 try:
     import hppfcl
@@ -110,7 +110,7 @@ def lower(self, object_data: Any) -> MsgType:
             }
 
     class DaeMeshGeometry(mg.ReferenceSceneElement):
-        def __init__(self, dae_path: str, cache: Optional[Set[str]] = None) -> None:
+        def __init__(self, dae_path: str, cache: Optional[set[str]] = None) -> None:
             """Load Collada files with texture images.
             Inspired from
             https://gist.github.com/danzimmerman/a392f8eadcf1166eb5bd80e3922dbdc5
@@ -131,7 +131,7 @@ def __init__(self, dae_path: str, cache: Optional[Set[str]] = None) -> None:
                 self.dae_raw = text_file.read()
 
             # Parse the image resource in Collada file
-            img_resource_paths: List[Path] = []
+            img_resource_paths: list[Path] = []
             img_lib_element = Et.parse(dae_path).find(
                 "{http://www.collada.org/2005/11/COLLADASchema}library_images"
             )
@@ -143,7 +143,7 @@ def __init__(self, dae_path: str, cache: Optional[Set[str]] = None) -> None:
                 ]
 
             # Convert textures to data URL for Three.js ColladaLoader to load them
-            self.img_resources: Dict[str, str] = {}
+            self.img_resources: dict[str, str] = {}
             for img_path in img_resource_paths:
                 img_key = str(img_path)
                 # Return empty string if already in cache
@@ -164,7 +164,7 @@ def __init__(self, dae_path: str, cache: Optional[Set[str]] = None) -> None:
                 img_uri = f"data:image/png;base64,{img_data.decode('utf-8')}"
                 self.img_resources[img_key] = img_uri
 
-        def lower(self) -> Dict[str, Any]:
+        def lower(self) -> dict[str, Any]:
             """Pack data into a dictionary of the format that must be passed to
             `Visualizer.window.send`.
             """
@@ -665,7 +665,7 @@ def reset(self):
         self.static_objects = []
 
     def setBackgroundColor(self, preset_name: str = "gray", col_top=None, col_bot=None):
-        """Set the background."""
+        """set the background."""
         if col_top is not None:
             if col_bot is None:
                 col_bot = col_top
@@ -682,7 +682,7 @@ def setCameraPosition(self, position: np.ndarray):
         self.viewer.set_cam_pos(position)
 
     def setCameraPreset(self, preset_key: str):
-        """Set the camera angle and position using a given preset."""
+        """set the camera angle and position using a given preset."""
         assert preset_key in self.CAMERA_PRESETS
         cam_val = self.CAMERA_PRESETS[preset_key]
         self.setCameraTarget(cam_val[0])
@@ -846,7 +846,7 @@ def loadViewerGeometryObject(self, geometry_object, geometry_type, color=None):
             meshcat_node.set_object(obj)
         elif isinstance(obj, (mg.Geometry, mg.ReferenceSceneElement)):
             material = mg.MeshPhongMaterial()
-            # Set material color from URDF, converting for triplet of doubles to a
+            # set material color from URDF, converting for triplet of doubles to a
             # single int.
 
             def to_material_color(rgba) -> int:
@@ -915,7 +915,7 @@ def loadViewerModel(
             collision_color = color
             visual_color = color
 
-        # Set viewer to use to gepetto-gui.
+        # set viewer to use to gepetto-gui.
         self.viewerRootNodeName = rootNodeName
 
         # Collisions
@@ -1038,7 +1038,7 @@ def captureImage(self, w=None, h=None):
         return img_arr
 
     def displayCollisions(self, visibility):
-        """Set whether to display collision objects or not."""
+        """set whether to display collision objects or not."""
         if self.collision_model is None:
             self.display_collisions = False
         else:
@@ -1049,7 +1049,7 @@ def displayCollisions(self, visibility):
             self.updatePlacements(pin.GeometryType.COLLISION)
 
     def displayVisuals(self, visibility):
-        """Set whether to display visual objects or not."""
+        """set whether to display visual objects or not."""
         if self.visual_model is None:
             self.display_visuals = False
         else:
@@ -1060,7 +1060,7 @@ def displayVisuals(self, visibility):
             self.updatePlacements(pin.GeometryType.VISUAL)
 
     def displayFrames(self, visibility, frame_ids=None, axis_length=0.2, axis_width=2):
-        """Set whether to display frames or not."""
+        """set whether to display frames or not."""
         self.display_frames = visibility
         if visibility:
             self.initializeFrames(frame_ids, axis_length, axis_width)
@@ -1112,10 +1112,10 @@ def drawFrameVelocities(self, frame_id: int, v_scale=0.2, color=FRAME_VEL_COLOR)
 
     def _draw_vectors_from_frame(
         self,
-        vecs: List[np.ndarray],
-        frame_ids: List[int],
-        vec_names: List[str],
-        colors: List[int],
+        vecs: list[np.ndarray],
+        frame_ids: list[int],
+        vec_names: list[str],
+        colors: list[int],
     ):
         """Draw vectors extending from given frames."""
         import meshcat.geometry as mg