Fix typo in CoM position docstrings across multiple computation class…

…es and format with black

src/adam/casadi/computations.py

@@ -143,7 +143,7 @@ def jacobian_dot_fun(self, frame: str) -> cs.Function:
         )
 
     def CoM_position_fun(self) -> cs.Function:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Returns:
             CoM (casADi function): The CoM position
@@ -464,7 +464,7 @@ def gravity_term(self, base_transform: cs.SX, joint_positions: cs.SX) -> cs.SX:
         ).array
 
     def CoM_position(self, base_transform: cs.SX, joint_positions: cs.SX) -> cs.SX:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Args:
             base_transform (cs.SX): The homogenous transform from base to world frame

src/adam/core/rbd_algorithms.py

@@ -327,7 +327,7 @@ def jacobian_dot(
     def CoM_position(
         self, base_transform: npt.ArrayLike, joint_positions: npt.ArrayLike
     ) -> npt.ArrayLike:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Args:
             base_transform (T): The homogenous transform from base to world frame

src/adam/jax/computations.py

@@ -216,7 +216,7 @@ def gravity_term(
     def CoM_position(
         self, base_transform: jnp.array, joint_positions: jnp.array
     ) -> jnp.array:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Args:
             base_transform (jnp.array): The homogenous transform from base to world frame

src/adam/numpy/computations.py

@@ -149,7 +149,7 @@ def jacobian_dot(
     def CoM_position(
         self, base_transform: np.ndarray, joint_positions: np.ndarray
     ) -> np.ndarray:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Args:
             base_transform (np.ndarray): The homogenous transform from base to world frame

src/adam/parametric/casadi/computations_parametric.py

@@ -179,7 +179,7 @@ def jacobian_dot_fun(self, frame: str) -> cs.Function:
         )
 
     def CoM_position_fun(self) -> cs.Function:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Returns:
             com (casADi function): The CoM position

src/adam/parametric/jax/computations_parametric.py

@@ -397,7 +397,7 @@ def CoM_position(
         length_multiplier: jnp.array,
         densities: jnp.array,
     ) -> jnp.array:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Args:
             base_transform (jnp.array): The homogenous transform from base to world frame

src/adam/parametric/numpy/computations_parametric.py

@@ -266,7 +266,7 @@ def CoM_position(
         length_multiplier: np.ndarray,
         densities: np.ndarray,
     ) -> np.ndarray:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Args:
             base_transform (np.ndarray): The homogenous transform from base to world frame

src/adam/parametric/pytorch/computations_parametric.py

@@ -271,7 +271,7 @@ def CoM_position(
         length_multiplier: torch.Tensor,
         densities: torch.Tensor,
     ) -> torch.Tensor:
-        """Returns the CoM positon
+        """Returns the CoM position
 
         Args:
             base_transform (torch.tensor): The homogenous transform from base to world frame

tests/test_casadi.py

@@ -50,9 +50,7 @@ def test_CoM_jacobian(setup_test):
         adam_kin_dyn.CoM_jacobian_fun()(state.H, state.joints_pos)
     )
     assert adam_com_jacobian - idyn_com_jacobian == pytest.approx(0.0, abs=1e-5)
-    adam_com_jacobian = cs.DM(
-        adam_kin_dyn.CoM_jacobian(state.H, state.joints_pos)
-    )
+    adam_com_jacobian = cs.DM(adam_kin_dyn.CoM_jacobian(state.H, state.joints_pos))
     assert adam_com_jacobian - idyn_com_jacobian == pytest.approx(0.0, abs=1e-5)
 
 

tests/test_jax.py

@@ -36,6 +36,7 @@ def test_CoM_pos(setup_test):
     adam_com = adam_kin_dyn.CoM_position(state.H, state.joints_pos)
     assert adam_com - idyn_com == pytest.approx(0.0, abs=1e-5)
 
+
 def test_CoM_jacobian(setup_test):
     adam_kin_dyn, robot_cfg, state = setup_test
     idyn_com_jacobian = robot_cfg.idyn_function_values.CoM_jacobian

tests/test_numpy.py

@@ -40,6 +40,7 @@ def test_CoM_jacobian(setup_test):
     adam_com_jacobian = adam_kin_dyn.CoM_jacobian(state.H, state.joints_pos)
     assert adam_com_jacobian - idyn_com_jacobian == pytest.approx(0.0, abs=1e-5)
 
+
 def test_total_mass(setup_test):
     adam_kin_dyn, robot_cfg, state = setup_test
     idyn_total_mass = robot_cfg.idyn_function_values.total_mass