LGTM issue fixes

Author: jhavl

roboticstoolbox/backends/PyPlot/EllipsePlot.py

@@ -4,7 +4,7 @@
 """
 
 import numpy as np
-import scipy as sp
+# import scipy as sp
 from spatialmath import base
 import matplotlib.pyplot as plt
 
@@ -22,7 +22,7 @@ def plot(self):
             ax = self.ax
 
         if ax is None:
-            fig = plt.figure()
+            plt.figure()
             ax = plt.axes(projection="3d")
             self.ax = ax
 
@@ -109,7 +109,7 @@ def plot(self, ax=None):
             ax = self.ax
 
         if ax is None:
-            fig = plt.figure()
+            plt.figure()
             ax = plt.axes(projection="3d")
             self.ax = ax
 
@@ -196,7 +196,7 @@ def make_ellipsoid2(self):
             centre = self.centre
 
         # points on unit circle
-        theta = np.linspace(0.0, 2.0 * np.pi, 50)
+        # theta = np.linspace(0.0, 2.0 * np.pi, 50)
         # y = np.array([np.cos(theta), np.sin(theta)])
         # RVC2 p 602
         # x = sp.linalg.sqrtm(A) @ y

roboticstoolbox/examples/neo.py

@@ -9,7 +9,6 @@
 import spatialmath as sm
 import numpy as np
 import qpsolvers as qp
-import cProfile
 
 # Launch the simulator Swift
 env = swift.Swift()

roboticstoolbox/examples/puma_swift.py

@@ -5,7 +5,6 @@
 
 import swift
 import roboticstoolbox as rp
-import spatialmath as sm
 import numpy as np
 
 env = swift.Swift()

roboticstoolbox/examples/tripleangledemo.py

@@ -137,7 +137,7 @@ def set_three(x):
         lambda x: change_sequence("ZYZ"), desc="ZYZ (Euler angles)"
     )
 
-    button = swift.Button(lambda x: set("ZYX"), desc="Set to Zero")
+    swift.Button(lambda x: set("ZYX"), desc="Set to Zero")
 
     # button to reset joint angles
     def reset(e):
@@ -185,25 +185,25 @@ def angle(index, ring):
 
     label = swift.Label(desc="Triple angle")
 
-    def chekked(e, el):
-        nlabel = "s: "
+    # def chekked(e, el):
+    #     nlabel = "s: "
 
-        if e[0]:
-            nlabel += "a"
-            r_one.value = 0
+    #     if e[0]:
+    #         nlabel += "a"
+    #         r_one.value = 0
 
-        if e[1]:
-            nlabel += "b"
-            r_two.value = 0
+    #     if e[1]:
+    #         nlabel += "b"
+    #         r_two.value = 0
 
-        if e[2]:
-            nlabel += "c"
-            r_three.value = 0
+    #     if e[2]:
+    #         nlabel += "c"
+    #         r_three.value = 0
 
-        if e[3]:
-            el.value = 1
+    #     if e[3]:
+    #         el.value = 1
 
-        label.desc = nlabel
+    #     label.desc = nlabel
 
     env.add(label)
     env.add(r_one)

roboticstoolbox/examples/vehicle1.py

@@ -1,11 +1,12 @@
-from roboticstoolbox import Bicycle, RandomPath, VehiclePolygon, VehicleIcon
-from spatialmath import *   # lgtm [py/polluting-import]
+# from roboticstoolbox import Bicycle, RandomPath, VehiclePolygon
+from roboticstoolbox import VehicleIcon
+from spatialmath import *  # lgtm [py/polluting-import]
 from math import pi
 
 dim = 10
 
 # v = VehiclePolygon()
-anim = VehicleIcon('greycar', scale=2)
+anim = VehicleIcon("greycar", scale=2)
 
 # veh = Bicycle(
 #     animation=anim,

roboticstoolbox/mobile/CurvaturePolyPlanner.py

@@ -2,7 +2,8 @@
 import scipy.integrate
 import scipy.optimize
 import numpy as np
-import matplotlib.pyplot as plt
+
+# import matplotlib.pyplot as plt
 from collections import namedtuple
 from roboticstoolbox.mobile import *
 

roboticstoolbox/mobile/EKF.py

@@ -917,7 +917,7 @@ def _extend_map(self, P, xv, xm, z, lm_id):
             # estimate position of landmark in the world based on 
             # noisy sensor reading and current vehicle pose
 
-        M = None
+        # M = None
 
         # estimate its position based on observation and vehicle state
         xf = self.sensor.g(xv, z)

roboticstoolbox/mobile/Vehicle.py

@@ -5,13 +5,13 @@
 """
 from abc import ABC, abstractmethod
 import warnings
-from math import pi, sin, cos, tan, atan2
+from math import pi, sin, cos, tan
 import numpy as np
-from scipy import integrate, linalg, interpolate
+from scipy import interpolate
 
 import matplotlib.pyplot as plt
-from matplotlib import patches
-import matplotlib.transforms as mtransforms
+# from matplotlib import patches
+# import matplotlib.transforms as mtransforms
 
 from spatialmath import SE2, base
 from roboticstoolbox.mobile.drivers import VehicleDriverBase

roboticstoolbox/models/DH/AL5D.py

@@ -43,12 +43,12 @@ def __init__(self, symbolic=False):
         if symbolic:
             import spatialmath.base.symbolic as sym
 
-            zero = sym.zero()
+            # zero = sym.zero()
             pi = sym.pi()
         else:
             from math import pi
 
-            zero = 0.0
+            # zero = 0.0
 
         # robot length values (metres)
         a = [0, 0.002, 0.14679, 0.17751]
@@ -58,7 +58,7 @@ def __init__(self, symbolic=False):
         offset = [pi / 2, pi, -0.0427, -0.0427 - pi / 2]
 
         # mass data as measured
-        mass = [0.187, 0.044, 0.207, 0.081]
+        # mass = [0.187, 0.044, 0.207, 0.081]
 
         # center of mass as calculated through CAD model
         center_of_mass = [

roboticstoolbox/models/URDF/Fetch.py

@@ -2,7 +2,7 @@
 
 import numpy as np
 from roboticstoolbox.robot.ERobot import ERobot
-from spatialmath import SE3
+# from spatialmath import SE3
 
 
 class Fetch(ERobot):

roboticstoolbox/models/URDF/FetchCamera.py

@@ -2,7 +2,7 @@
 
 import numpy as np
 from roboticstoolbox.robot.ERobot import ERobot
-from spatialmath import SE3
+# from spatialmath import SE3
 
 
 class FetchCamera(ERobot):

roboticstoolbox/robot/DHRobot.py

@@ -20,8 +20,6 @@
     tr2eul,
     tr2rpy,
     t2r,
-    eul2jac,
-    rpy2jac,
     trlog,
     rotvelxform,
 )

roboticstoolbox/robot/ERobot.py

@@ -43,7 +43,6 @@
     SpatialInertia,
     SpatialForce,
 )
-import fknm
 from functools import lru_cache
 from typing import Union, overload, Dict, List, Tuple, Optional
 from copy import deepcopy

roboticstoolbox/robot/ETS.py

@@ -858,7 +858,7 @@ def eval(
 
         try:
             return ETS_fkine(self._fknm, q, base, tool, include_base)
-        except:
+        except BaseException:
             pass
 
         q = getmatrix(q, (None, None))

roboticstoolbox/robot/Link.py

@@ -1,13 +1,13 @@
 from copy import copy as ccopy, deepcopy
 from abc import ABC
-from multiprocessing.sharedctypes import Value
+# from multiprocessing.sharedctypes import Value
 import numpy as np
 from functools import wraps
 from spatialmath.base import getvector, isscalar, isvector, ismatrix
 from spatialmath import SE3, SE2
 from ansitable import ANSITable, Column
 from spatialgeometry import Shape, SceneNode, SceneGroup
-from typing import List, Union, Type, Tuple, overload
+from typing import List, Union, Tuple, overload
 import roboticstoolbox as rtb
 from roboticstoolbox.robot.ETS import ETS, ETS2
 from roboticstoolbox.robot.ET import ET, ET2

roboticstoolbox/robot/Robot.py

@@ -3,7 +3,7 @@
 from copy import deepcopy
 import numpy as np
 import roboticstoolbox as rtb
-from spatialmath import SE3, SE2
+from spatialmath import SE3
 from spatialmath.base.argcheck import (
     isvector,
     getvector,
@@ -18,17 +18,19 @@
 from roboticstoolbox.robot.Dynamics import DynamicsMixin
 from roboticstoolbox.robot.ETS import ETS
 from roboticstoolbox.robot.IK import IKMixin
-from typing import Optional, Union, overload, Dict, Tuple
+from typing import Union, Dict, Tuple
 from spatialgeometry import Shape
 from fknm import Robot_link_T
 from functools import lru_cache
 from spatialgeometry import SceneNode
 from roboticstoolbox.robot.Link import BaseLink, Link
-from numpy import all, eye, isin
+
+# from numpy import all, eye, isin
 from roboticstoolbox.robot.Gripper import Gripper
 from numpy import ndarray
 from warnings import warn
-import scipy as sp
+
+# import scipy as sp
 
 try:
     from matplotlib import colors
@@ -980,7 +982,7 @@ def jacob0_dot(self, q=None, qd=None, J0=None, representation=None):
 
         :seealso: :func:`jacob0`, :func:`hessian0`
         """  # noqa
-        n = len(q)
+        # n = len(q)
 
         if representation is None:
 
@@ -2199,10 +2201,12 @@ def get_link_scene_node():
 
 if __name__ == "__main__":
 
-    import roboticstoolbox as rtb
+    pass
+
+    # import roboticstoolbox as rtb
 
-    puma = rtb.models.DH.Puma560()
-    a = puma.copy()
+    # puma = rtb.models.DH.Puma560()
+    # a = puma.copy()
 
     # from roboticstoolbox import ET2 as ET
 

rtb-data/setup.py

@@ -1,8 +1,6 @@
 from setuptools import setup, find_packages
 
-import pkg_resources
 import os
-import sys
 
 here = os.path.abspath(os.path.dirname(__file__))