fix: type ignores for py3.7

engnadeau · Aug 26, 2022 · 6087844 · 6087844
1 parent 5bd2ab8
commit 6087844
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Showing 6 changed files with 30 additions and 30 deletions.
diff --git a/pybotics/optimization.py b/pybotics/optimization.py
@@ -56,9 +56,9 @@ def apply_optimization_vector(self, vector: npt.NDArray[np.float64]) -> None:
         num_tool_parameters = np.sum(self.tool_mask)
 
         # extract vector segments
-        segments = np.split(
+        segments = np.split(  # type: ignore
             vector, [num_kc_parameters, num_kc_parameters + num_tool_parameters]
-        )  # type: ignore
+        )
         kc_segment = segments[0]
         tool_segment = segments[1]
         world_segment = segments[2]

diff --git a/pybotics/robot.py b/pybotics/robot.py
@@ -192,9 +192,9 @@ def jacobian_flange(
             current_link = self.kinematic_chain.links[i]
             p = q[i]
             current_link_transform = current_link.transform(p)
-            current_transform = np.dot(
+            current_transform = np.dot(  # type: ignore
                 current_link_transform, current_transform
-            )  # type: ignore
+            )
 
         return jacobian_flange
 

diff --git a/tests/test_geometry.py b/tests/test_geometry.py
@@ -103,9 +103,9 @@ def test_rotation_matrix_x(angle: float) -> None:
     # check 3x3 rotation component
     actual_rotation = actual_matrix[:3, :3]
     expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix()
-    np.testing.assert_allclose(
+    np.testing.assert_allclose(  # type: ignore
         actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08
-    )  # type: ignore
+    )
 
 
 @given(
@@ -141,9 +141,9 @@ def test_rotation_matrix_y(angle: float) -> None:
     # check 3x3 rotation component
     actual_rotation = actual_matrix[:3, :3]
     expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix()
-    np.testing.assert_allclose(
+    np.testing.assert_allclose(  # type: ignore
         actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08
-    )  # type: ignore
+    )
 
 
 @given(
@@ -179,9 +179,9 @@ def test_rotation_matrix_z(angle: float) -> None:
     # check 3x3 rotation component
     actual_rotation = actual_matrix[:3, :3]
     expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix()
-    np.testing.assert_allclose(
+    np.testing.assert_allclose(  # type: ignore
         actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08
-    )  # type: ignore
+    )
 
 
 @given(
@@ -227,9 +227,9 @@ def test_vector_2_matrix(
             actual = pybotics.geometry.vector_2_matrix(
                 d["vector"], convention=c  # type: ignore
             )
-            np.testing.assert_allclose(
+            np.testing.assert_allclose(  # type: ignore
                 actual=actual, desired=d["transform"].reshape((4, 4)), atol=1e-6
-            )  # type: ignore
+            )
 
         # test exception
         with raises(PyboticsError):
@@ -252,9 +252,9 @@ def test_matrix_2_vector(
                 # TODO: implement other conversions
                 # don't fail for NotImplementedError
                 continue
-            np.testing.assert_allclose(
+            np.testing.assert_allclose(  # type: ignore
                 actual=actual_vector, desired=d["vector"], atol=1e-6
-            )  # type: ignore
+            )
 
 
 def test_orientation() -> None:

diff --git a/tests/test_optimization.py b/tests/test_optimization.py
@@ -42,7 +42,7 @@ def test_compute_absolute_errors(q: npt.NDArray[np.float64]) -> None:
 
     # test 2D input; i.e., many poses
     num_repeats = 10
-    actual_error = compute_absolute_errors(
+    actual_error = compute_absolute_errors(  # type: ignore
         qs=np.tile(q, (num_repeats, 1)),  # type: ignore
         positions=np.tile(position_vector, (num_repeats, 1)),  # type: ignore
         robot=robot,
@@ -80,7 +80,7 @@ def test_compute_relative_errors(
 
     # test 2D input; i.e., many poses
     num_repeats = 10
-    actual_error = compute_relative_errors(
+    actual_error = compute_relative_errors(  # type: ignore
         qs_a=np.tile(q_a, (num_repeats, 1)),  # type: ignore
         qs_b=np.tile(q_b, (num_repeats, 1)),  # type: ignore
         distances=np.tile(distance, (num_repeats, 1)),  # type: ignore
@@ -99,9 +99,9 @@ def test_optimization() -> None:
     actual_robot.kinematic_chain.links[0].a += 0.1  # type: ignore
 
     # calculate fk
-    qs = np.tile(
+    qs = np.tile(  # type: ignore
         np.linspace(start=-np.pi, stop=np.pi, num=100), (len(ur10()), 1)
-    ).transpose()  # type: ignore
+    ).transpose()
 
     poses = np.array(list(map(actual_robot.fk, qs)))
     positions = poses[:, :-1, -1]
@@ -121,20 +121,20 @@ def test_optimization() -> None:
 
     # validate
     atol = 1e-2
-    np.testing.assert_allclose(
+    np.testing.assert_allclose(  # type: ignore
         actual=result.x, desired=handler.generate_optimization_vector(), atol=atol
-    )  # type: ignore
-    np.testing.assert_allclose(
+    )
+    np.testing.assert_allclose(  # type: ignore
         actual=handler.robot.kinematic_chain.vector,
         desired=actual_robot.kinematic_chain.vector,
         atol=atol,
-    )  # type: ignore
-    np.testing.assert_allclose(
+    )
+    np.testing.assert_allclose(  # type: ignore
         actual=handler.robot.tool.vector, desired=actual_robot.tool.vector, atol=atol
-    )  # type: ignore
-    np.testing.assert_allclose(
+    )
+    np.testing.assert_allclose(  # type: ignore
         actual=handler.robot.world_frame, desired=actual_robot.world_frame, atol=atol
-    )  # type: ignore
+    )
 
 
 def test_handler_validate_transform_mask() -> None:

diff --git a/tests/test_robot.py b/tests/test_robot.py
@@ -234,9 +234,9 @@ def test_ik(q: npt.NDArray[np.float64], q_offset: npt.NDArray[np.float64]) -> No
     # test the position with higher accuracy
     desired_position = pose[:-1, -1]
     actual_position = actual_pose[:-1, -1]
-    np.testing.assert_allclose(
+    np.testing.assert_allclose(  # type: ignore
         actual_position, desired_position, atol=1e-1
-    )  # type: ignore
+    )
 
 
 def test_random_joints() -> None:

diff --git a/tests/test_tool.py b/tests/test_tool.py
@@ -16,6 +16,6 @@ def test_tool() -> None:
     p = np.array([1, 2, 3])
     tool.position = p
     np.testing.assert_allclose(tool.position, p)  # type: ignore
-    np.testing.assert_allclose(
+    np.testing.assert_allclose(  # type: ignore
         tool.vector, matrix_2_vector(tool.matrix)
-    )  # type: ignore
+    )