Merge pull request #1238 from cmastalli/devel

Fixed yapf reported errors

Author: cmastalli

CHANGELOG.md

@@ -6,6 +6,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+* Fixed yapf reported errors in https://github.com/loco-3d/crocoddyl/pull/1238
 * Tested Python stubs in Conda CI in https://github.com/loco-3d/crocoddyl/pull/1228
 * Fixed Rviz display in https://github.com/loco-3d/crocoddyl/pull/1227
 * Improved CI, updated cmake and fixed launch file in https://github.com/loco-3d/crocoddyl/pull/1220

bindings/python/crocoddyl/__init__.py

@@ -119,7 +119,7 @@ def init(self, solver):
                         name = self.robot.model.frames[c.contact.id].name
                     elif hasattr(c, "impact"):
                         name = self.robot.model.frames[c.impact.id].name
-                    if not name in frameNames:
+                    if name not in frameNames:
                         frameNames.append(name)
             if hasattr(model, "differential"):
                 if isinstance(
@@ -379,7 +379,7 @@ def __init__(
         visibility=False,
     ):
         DisplayAbstract.__init__(self, robot, rate, freq)
-        if frameNames != None:
+        if frameNames is not None:
             print("Deprecated. Do not pass frameNames")
 
         # Visuals properties
@@ -553,7 +553,7 @@ def __init__(
         visibility=True,
     ):
         DisplayAbstract.__init__(self, robot, rate, freq)
-        if frameNames != None:
+        if frameNames is not None:
             print("Deprecated. Do not pass frameNames")
         robot.setVisualizer(
             pinocchio.visualize.MeshcatVisualizer(
@@ -677,7 +677,7 @@ def _addFrictionCones(self):
             )
 
     def _addFrameCurves(self, key=None, vertices=None):
-        if key == None and vertices == None:
+        if key is None and vertices is None:
             return
         import meshcat.geometry as g
 

examples/notebooks/solutions/cartpole_analytical_derivatives.py

@@ -8,7 +8,7 @@ def cartpole_analytical_derivatives(model, data, x, u=None):
     f = u[0].item()
 
     # Shortname for system parameters
-    m1, m2, l, g = model.m1, model.m2, model.l, model.g
+    m1, m2, lcart, g = model.m1, model.m2, model.l, model.g
     s, c = np.sin(th), np.cos(th)
     m = m1 + m2
     mu = m1 + m2 * s**2
@@ -20,15 +20,15 @@ def cartpole_analytical_derivatives(model, data, x, u=None):
         [
             [
                 0.0,
-                (m2 * g * c * c - m2 * g * s * s - m2 * l * c * thdot) / mu,
+                (m2 * g * c * c - m2 * g * s * s - m2 * lcart * c * thdot) / mu,
                 0.0,
-                -m2 * l * s / mu,
+                -m2 * lcart * s / mu,
             ],
             [
                 0.0,
                 (
-                    (-s * f / l)
-                    + (m * g * c / l)
+                    (-s * f / lcart)
+                    + (m * g * c / lcart)
                     - (m2 * c * c * thdot**2)
                     + (m2 * s * s * thdot**2)
                 )
@@ -39,7 +39,7 @@ def cartpole_analytical_derivatives(model, data, x, u=None):
         ]
     )
     # derivative of xddot and thddot by f
-    data.Fu[:] = np.array([1 / mu, c / (l * mu)])
+    data.Fu[:] = np.array([1 / mu, c / (lcart * mu)])
     # first derivative of data.cost by x, theta, xdot, thetadot
     data.Lx[:] = np.array(
         [