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examples/display_robot.py

@@ -1,5 +1,4 @@
 import example_robot_data as robex
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 ROBOT_NAME = "solo12"

next/appendix/solution_slerp.py

@@ -4,7 +4,6 @@
 import numpy as np
 from numpy.linalg import norm
 from pinocchio import SE3, AngleAxis, Quaternion
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 viz = MeshcatVisualizer()

next/tp1/configuration_extended.py

@@ -9,7 +9,6 @@
 import numpy as np
 from numpy.linalg import norm
 from scipy.optimize import fmin_bfgs, fmin_slsqp
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 from supaero2024.meshcat_viewer_wrapper.transformations import planar, translation2d
 

next/tp1/configuration_reduced.py

@@ -8,7 +8,6 @@
 
 import numpy as np
 from scipy.optimize import fmin_bfgs
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 from supaero2024.meshcat_viewer_wrapper.transformations import planar, translation2d
 

next/tp2/floating.py

@@ -14,10 +14,8 @@
 
 import example_robot_data as robex
 import numpy as np
-import pinocchio as pin
 from numpy.linalg import norm
 from scipy.optimize import fmin_bfgs
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 # --- Load robot model
@@ -88,6 +86,7 @@ def callback(q):
     viz.display(q)
     time.sleep(1e-2)
 
+
 qopt = fmin_bfgs(cost, robot.q0, callback=callback)
 # %end_jupyter_snippet
 

next/tp2/invgeom3d.py

@@ -14,7 +14,6 @@
 import numpy as np
 from numpy.linalg import norm
 from scipy.optimize import fmin_bfgs
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 # --- Load robot model

next/tp2/invgeom6d.py

@@ -1,5 +1,5 @@
 """
-Stand-alone inverse geom in 6D (controlling the placement, ie translation and 
+Stand-alone inverse geom in 6D (controlling the placement, ie translation and
 orientation of the end effector).  Given a reference placement <Mtarget> ,
 it computes the configuration of the UR5 so that the end-effector placement (6D)
 matches the target. This is done using BFGS solver. While iterating to compute
@@ -16,7 +16,6 @@
 import pinocchio as pin
 from numpy.linalg import norm
 from scipy.optimize import fmin_bfgs
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 # --- Load robot model

next/tp2/simple_pick_and_place.py

@@ -14,7 +14,6 @@
 import example_robot_data as robex
 import numpy as np
 import pinocchio as pin
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer, colors
 
 # %jupyter_snippet 1

next/tp3/control_head.py

@@ -12,9 +12,8 @@
 import numpy as np
 import pinocchio as pin
 from numpy.linalg import norm, pinv
-from tp3.tiago_loader import loadTiago
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
+from tp3.tiago_loader import loadTiago
 
 plt.ion()
 

next/tp3/inverse_kinematics.py

@@ -14,9 +14,8 @@
 # %jupyter_snippet import
 import pinocchio as pin
 from numpy.linalg import norm, pinv
-from tp3.tiago_loader import loadTiago
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
+from tp3.tiago_loader import loadTiago
 
 # %end_jupyter_snippet
 

next/tp4/README.md

@@ -49,4 +49,4 @@ These classes are not available in 2x and are reimplemented in Python following
 *getConstraintsJacobian* are reimplemented.
 
 ### Z axis
-pin.ZAxis is not available in 2x and is reimplemented in Python.
+pin.ZAxis is not available in 2x and is reimplemented in Python.