fix scanning error (AtsushiSakai#339)

Author: AtsushiSakai

ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py

@@ -11,21 +11,23 @@ def random_val(min_val, max_val):
     return min_val + random.random() * (max_val - min_val)
 
 
-if __name__ == "__main__":
+def main():
     print("Start solving Forward Kinematics 10 times")
-
-    # init NLinkArm with Denavit-Hartenberg parameters of PR2    
+    # init NLinkArm with Denavit-Hartenberg parameters of PR2
     n_link_arm = NLinkArm([[0., -math.pi / 2, .1, 0.],
                            [math.pi / 2, math.pi / 2, 0., 0.],
                            [0., -math.pi / 2, 0., .4],
                            [0., math.pi / 2, 0., 0.],
                            [0., -math.pi / 2, 0., .321],
                            [0., math.pi / 2, 0., 0.],
                            [0., 0., 0., 0.]])
-
     # execute FK 10 times
-    for i in range(10):
+    for _ in range(10):
         n_link_arm.set_joint_angles(
-            [random_val(-1, 1) for j in range(len(n_link_arm.link_list))])
+            [random_val(-1, 1) for _ in range(len(n_link_arm.link_list))])
 
-        ee_pose = n_link_arm.forward_kinematics(plot=True)
+        n_link_arm.forward_kinematics(plot=True)
+
+
+if __name__ == "__main__":
+    main()

ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py

@@ -11,23 +11,25 @@ def random_val(min_val, max_val):
     return min_val + random.random() * (max_val - min_val)
 
 
-if __name__ == "__main__":
+def main():
     print("Start solving Inverse Kinematics 10 times")
-
-    # init NLinkArm with Denavit-Hartenberg parameters of PR2        
+    # init NLinkArm with Denavit-Hartenberg parameters of PR2
     n_link_arm = NLinkArm([[0., -math.pi / 2, .1, 0.],
                            [math.pi / 2, math.pi / 2, 0., 0.],
                            [0., -math.pi / 2, 0., .4],
                            [0., math.pi / 2, 0., 0.],
                            [0., -math.pi / 2, 0., .321],
                            [0., math.pi / 2, 0., 0.],
                            [0., 0., 0., 0.]])
-
     # execute IK 10 times
-    for i in range(10):
+    for _ in range(10):
         n_link_arm.inverse_kinematics([random_val(-0.5, 0.5),
                                        random_val(-0.5, 0.5),
                                        random_val(-0.5, 0.5),
                                        random_val(-0.5, 0.5),
                                        random_val(-0.5, 0.5),
                                        random_val(-0.5, 0.5)], plot=True)
+
+
+if __name__ == "__main__":
+    main()

Bipedal/bipedal_planner/bipedal_planner.py

@@ -46,9 +46,8 @@ def walk(self, t_sup=0.8, z_c=0.8, a=10, b=1, plot=False):
             print("No footsteps")
             return
 
-        com_trajectory_for_plot, ax = None, None
-
         # set up plotter
+        com_trajectory_for_plot, ax = None, None
         if plot:
             fig = plt.figure()
             ax = Axes3D(fig)

InvertedPendulumCart/inverted_pendulum_mpc_control.py

@@ -3,11 +3,12 @@
 author: Atsushi Sakai
 """
 
-import matplotlib.pyplot as plt
-import numpy as np
 import math
 import time
+
 import cvxpy
+import matplotlib.pyplot as plt
+import numpy as np
 
 # Model parameters
 
@@ -39,10 +40,11 @@ def main():
     for i in range(50):
 
         # calc control input
-        optimized_x, optimized_delta_x, optimized_theta, optimized_delta_theta, optimized_input = mpc_control(x)
+        opt_x, opt_delta_x, opt_theta, opt_delta_theta, opt_input = \
+            mpc_control(x)
 
         # get input
-        u = optimized_input[0]
+        u = opt_input[0]
 
         # simulate inverted pendulum cart
         x = simulation(x, u)
@@ -86,17 +88,19 @@ def mpc_control(x0):
     print("calc time:{0} [sec]".format(elapsed_time))
 
     if prob.status == cvxpy.OPTIMAL:
-        ox = get_nparray_from_matrix(x.value[0, :])
-        dx = get_nparray_from_matrix(x.value[1, :])
-        theta = get_nparray_from_matrix(x.value[2, :])
-        dtheta = get_nparray_from_matrix(x.value[3, :])
+        ox = get_numpy_array_from_matrix(x.value[0, :])
+        dx = get_numpy_array_from_matrix(x.value[1, :])
+        theta = get_numpy_array_from_matrix(x.value[2, :])
+        d_theta = get_numpy_array_from_matrix(x.value[3, :])
 
-        ou = get_nparray_from_matrix(u.value[0, :])
+        ou = get_numpy_array_from_matrix(u.value[0, :])
+    else:
+        ox, dx, theta, d_theta, ou = None, None, None, None, None
 
-    return ox, dx, theta, dtheta, ou
+    return ox, dx, theta, d_theta, ou
 
 
-def get_nparray_from_matrix(x):
+def get_numpy_array_from_matrix(x):
     """
     get build-in list from matrix
     """
@@ -133,7 +137,7 @@ def plot_cart(xt, theta):
     radius = 0.1
 
     cx = np.array([-cart_w / 2.0, cart_w / 2.0, cart_w /
-                    2.0, -cart_w / 2.0, -cart_w / 2.0])
+                   2.0, -cart_w / 2.0, -cart_w / 2.0])
     cy = np.array([0.0, 0.0, cart_h, cart_h, 0.0])
     cy += radius * 2.0
 

Mapping/lidar_to_grid_map/lidar_to_grid_map.py

@@ -19,7 +19,8 @@ def file_read(f):
     """
     Reading LIDAR laser beams (angles and corresponding distance data)
     """
-    measures = [line.split(",") for line in open(f)]
+    with open(f) as data:
+        measures = [line.split(",") for line in data]
     angles = []
     distances = []
     for measure in measures: