fix typos and copy paste leftovers

src/adam/casadi/casadi_like.py

@@ -202,10 +202,7 @@ def horzcat(*x) -> "CasadiLike":
         Returns:
             CasadiLike:  horizontal concatenation of elements
         """
-        # here the logic is a bit convoluted: x is a tuple containing CasadiLike
-        # cs.vertcat accepts *args. A list of cs types is created extracting the value
-        # from the CasadiLike stored in the tuple x.
-        # Then the list is unpacked with the * operator.
+
         y = [xi.array if isinstance(xi, CasadiLike) else xi for xi in x]
         return CasadiLike(cs.horzcat(*y))
 

src/adam/core/spatial_math.py

@@ -400,7 +400,7 @@ def spatial_inertia(
         IO[:3, :3] = self.factory.eye(3) * mass
         return IO
 
-    def spatial_inertial_with_parameter(self, I, mass, c, rpy):
+    def spatial_inertial_with_parameters(self, I, mass, c, rpy):
         """
         Args:
             I (npt.ArrayLike): inertia values parametric

src/adam/parametric/casadi/computations_parametric.py

@@ -34,9 +34,9 @@ def __init__(
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
         math = SpatialMath()
-        n_param_link = len(links_name_list)
-        self.densities = cs.SX.sym("densities", n_param_link)
-        self.length_multiplier = cs.SX.sym("length_multiplier", n_param_link)
+        n_param_links = len(links_name_list)
+        self.densities = cs.SX.sym("densities", n_param_links)
+        self.length_multiplier = cs.SX.sym("length_multiplier", n_param_links)
         factory = URDFParametricModelFactory(
             path=urdfstring,
             math=math,

src/adam/parametric/model/parametric_factories/parametric_link.py

@@ -172,7 +172,7 @@ def compute_volume(self):
         elif self.geometry_type == Geometry.SPHERE:
             visual_data_new = 0.0
             visual_data_new = self.visual_data.radius * self.length_multiplier
-            volume = 4 * math.pi * visual_data_new ** 3 / 3
+            volume = 4 * math.pi * visual_data_new**3 / 3
         return volume, visual_data_new
 
     """Function that computes the mass starting from the densities, the length multiplier and the link"""
@@ -256,7 +256,7 @@ def compute_inertia_parametric(self):
                 I.izz = I.iyy
             return I
         elif self.geometry_type == Geometry.SPHERE:
-            I.ixx = 2 * self.mass * self.visual_data_new ** 2 / 5
+            I.ixx = 2 * self.mass * self.visual_data_new**2 / 5
             I.iyy = I.ixx
             I.izz = I.ixx
         return I
@@ -276,7 +276,7 @@ def spatial_inertia(self) -> npt.ArrayLike:
         o[1] = self.origin[1]
         o[2] = self.origin[2]
         rpy = self.origin[3:]
-        return self.math.spatial_inertial_with_parameter(I, mass, o, rpy)
+        return self.math.spatial_inertial_with_parameters(I, mass, o, rpy)
 
     def homogeneous(self) -> npt.ArrayLike:
         """

src/adam/parametric/numpy/computations_parametric.py

@@ -228,7 +228,6 @@ def jacobian_dot(
         length_multiplier: np.ndarray,
         densities: np.ndarray,
     ) -> np.ndarray:
-
         """Returns the Jacobian derivative relative to the specified frame
 
         Args:

tests/parametric/test_CasADi_computations_parametric.py

@@ -70,7 +70,9 @@
     model_path, joints_name_list, link_name_list, root_link
 )
 
-original_density = [628.0724496264945]
+original_density = [
+    628.0724496264945
+]  # This is the original density value associated to the chest link, computed as mass/volume
 original_length = np.ones(len(link_name_list))
 
 

tests/parametric/test_Jax_computations_parametric.py

@@ -79,7 +79,9 @@ def SX2DM(x):
     model_path, joints_name_list, link_name_list, root_link
 )
 
-original_density = [628.0724496264945]
+original_density = [
+    628.0724496264945
+]  # This is the original density value associated to the chest link, computed as mass/volume
 original_length = np.ones(len(link_name_list))
 
 n_dofs = len(joints_name_list)

tests/parametric/test_NumPy_computations_parametric.py

@@ -78,7 +78,9 @@ def SX2DM(x):
 # comp.set_frame_velocity_representation(Representations.BODY_FIXED_REPRESENTATION)
 # comp_w_hardware.set_frame_velocity_representation(Representations.BODY_FIXED_REPRESENTATION)
 
-original_density = [628.0724496264945]
+original_density = [
+    628.0724496264945
+]  # This is the original density value associated to the chest link, computed as mass/volume
 original_length = np.ones(len(link_name_list))
 
 n_dofs = len(joints_name_list)

tests/parametric/test_pytorch_computations_parametric.py

@@ -80,7 +80,9 @@ def SX2DM(x):
 # comp.set_frame_velocity_representation(Representations.BODY_FIXED_REPRESENTATION)
 # comp_w_hardware.set_frame_velocity_representation(Representations.BODY_FIXED_REPRESENTATION)
 
-original_density = [628.0724496264945]
+original_density = [
+    628.0724496264945
+]  # This is the original density value associated to the chest link, computed as mass/volume
 original_length = np.ones(len(link_name_list))
 
 n_dofs = len(joints_name_list)