review example-3

example-3/boss.py

 #!/usr/bin/env python3
 
-import numpy as np
+import time
 
-from manager import QueueClient
-from task import Task,TaskParameters
+import numpy as np
 
-import example_robot_data as robex
 import pinocchio as pin
 
+from manager import QueueClient
+from task import Task, TaskParameters
+
 
 class Boss(QueueClient):
-    def run(self, qs,vqs,aqs):
-
+    def run(self, qs, vqs, aqs):
         # create some tasks
-        for i,[q,v,a] in enumerate(zip(qs,vqs,aqs)):
-            self.tasks.put(Task(i,q,v,a))
+        for i, [q, v, a] in enumerate(zip(qs, vqs, aqs)):
+            self.tasks.put(Task(i, q, v, a))
+
         # Wait for the results
         results = []
-        for _ in range(len(qs)):
+        for _ in qs:
             result = self.results.get()
             print(f'got result {result.identifier} of processed in {result.time:.3f}s : ')
             results.append(result)
         print('Got all {tasks} results !')
 
+
 if __name__ == '__main__':
-    import time
 
     # Allocate data to be proceeded.
     NDATA = 20
-    qs  = np.array([ pin.randomConfiguration(TaskParameters.robot.model) for _ in range(NDATA) ])
-    vqs = np.random.rand(NDATA,TaskParameters.robot.model.nv)*2-1
-    aqs = np.random.rand(NDATA,TaskParameters.robot.model.nv)*2-1
+    qs = np.array([pin.randomConfiguration(TaskParameters.robot.model) for _ in range(NDATA)])
+    vqs = np.random.rand(NDATA, TaskParameters.robot.model.nv) * 2 - 1
+    aqs = np.random.rand(NDATA, TaskParameters.robot.model.nv) * 2 - 1
 
-    
     start = time.perf_counter()
-    Boss().run(qs,vqs,aqs)
+    Boss().run(qs, vqs, aqs)
     total = time.perf_counter() - start
 
-    print( f'Completed in {total:.3f} secs')
+    print(f'Completed in {total:.3f} secs')

example-3/task.py

 import time
-import pinocchio as pin
+
 import numpy as np
+
+import pinocchio as pin
 import example_robot_data as robex
 
+
 class TaskParameters:
     '''Common information to all tasks, to be allocated by each minion and the boss. '''
     robotname = 'ur5'
     robot = robex.load(robotname)
-    
+
 
 class Task:
-    def __init__(self, identifier,q,v,a):
+    def __init__(self, identifier, q, v, a):
         self.identifier = identifier
 
         self.q = q.copy()
@@ -23,8 +26,8 @@ class Task:
     def work(self):
         start = time.perf_counter()
 
-        for i in range(1000000):
-            pin.rnea(TaskParameters.robot.model,TaskParameters.robot.data,self.q,self.v,self.a)
+        for i in range(1_000_000):
+            pin.rnea(TaskParameters.robot.model, TaskParameters.robot.data, self.q, self.v, self.a)
         self.tau[:] = TaskParameters.robot.data.tau
 
         self.time = time.perf_counter() - start