Fix ci

core/src/robot/model.cc

@@ -479,7 +479,7 @@ namespace jiminy
     }
 
     void Model::removeFrames(const std::vector<std::string> & frameNames,
-                             const std::vector<pinocchio::FrameType> & filter)
+                             const std::vector<pinocchio::FrameType> & allowed)
     {
         // Make sure that no simulation is already running
         if (getIsLocked())
@@ -491,14 +491,14 @@ namespace jiminy
 
         /* Check that the frame can be safely removed from the theoretical model.
            If so, then it holds true for the extended model. */
-        if (!filter.empty())
+        if (!allowed.empty())
         {
             for (const std::string & frameName : frameNames)
             {
                 const pinocchio::FrameIndex frameIndex =
                     getFrameIndex(pinocchioModelTh_, frameName);
                 const pinocchio::FrameType frameType = pinocchioModelTh_.frames[frameIndex].type;
-                if (std::find(filter.begin(), filter.end(), frameType) != filter.end())
+                if (std::find(allowed.begin(), allowed.end(), frameType) == allowed.end())
                 {
                     JIMINY_THROW(std::logic_error,
                                  "Not allowed to remove frame '",

python/jiminy_py/setup.py

@@ -162,7 +162,7 @@ def finalize_options(self) -> None:
             # Python linter
             "pylint>=3.1",
             # Python static type checker
-            "mypy>=1.5.0",
+            "mypy>=1.5.0,<1.18",
             # Dependency for documentation generation
             "pygments",
             # Dependency for documentation generation

python/jiminy_py/src/jiminy_py/robot.py

@@ -211,7 +211,9 @@ def generate_default_hardware_description_file(
     for joint_descr in root.findall('./joint'):
         child_obj = joint_descr.find('./child')
         assert child_obj is not None
-        links.remove(child_obj.get('link'))
+        link = child_obj.get('link')
+        if link is not None:
+            links.remove(link)
     link_root = next(iter(links))
 
     # Extract the list of parent and child links, excluding the one related
@@ -250,7 +252,7 @@ def generate_default_hardware_description_file(
 
         # Extract sensors
         for gazebo_sensor_descr in gazebo_plugin_descr.iterfind('sensor'):
-            sensor_info = OrderedDict(body_name=body_name)
+            sensor_info: Dict[str, Any] = OrderedDict(body_name=body_name)
 
             # Extract the sensor name
             sensor_name = gazebo_sensor_descr.attrib['name']
@@ -331,10 +333,10 @@ def generate_default_hardware_description_file(
             if plugin == "libgazebo_ros_force.so":
                 body_name_obj = gazebo_plugin_descr.find('bodyName')
                 assert body_name_obj is not None
-                body_name = body_name_obj.text
+                body_name_text = body_name_obj.text
                 force_sensor_info = sensors_info[ForceSensor.type]
-                force_sensor_info[f"{body_name}Wrench"] = OrderedDict(
-                    frame_name=body_name)
+                force_sensor_info[f"{body_name_text}Wrench"] = OrderedDict(
+                    frame_name=body_name_text)
             else:
                 LOGGER.warning("Unsupported Gazebo plugin '%s'", plugin)
 
@@ -422,9 +424,9 @@ def generate_default_hardware_description_file(
         sensor_info['motor_name'] = motor_name
 
         # Extract the associated joint name
-        joint_descr = transmission_descr.find('./joint')
-        assert isinstance(joint_descr, ET.Element)
-        joint_name = joint_descr.attrib['name']
+        transmission_joint_descr = transmission_descr.find('./joint')
+        assert isinstance(transmission_joint_descr, ET.Element)
+        joint_name = transmission_joint_descr.attrib['name']
         motor_info['joint_name'] = joint_name
         joint_transmissions.add(joint_name)
 
@@ -466,16 +468,16 @@ def generate_default_hardware_description_file(
 
     # Define default encoder sensors, and default effort sensors if no
     # transmission available.
-    for joint_descr in root.iterfind('joint'):
+    for root_joint_descr in root.iterfind('joint'):
         encoder_info = OrderedDict()
 
         # Skip fixed joints
-        joint_type = joint_descr.attrib['type'].casefold()
+        joint_type = root_joint_descr.attrib['type'].casefold()
         if joint_type == 'fixed':
             continue
 
         # Extract the joint name
-        joint_name = joint_descr.attrib['name']
+        joint_name = root_joint_descr.attrib['name']
         encoder_info['joint_name'] = joint_name
 
         # Add the sensor to the robot's hardware
@@ -484,7 +486,7 @@ def generate_default_hardware_description_file(
 
         # Add motors to robot hardware by default if no transmission found
         if not joint_transmissions:
-            joint_limit_descr = joint_descr.find('./limit')
+            joint_limit_descr = root_joint_descr.find('./limit')
             assert joint_limit_descr is not None
             if float(joint_limit_descr.attrib['effort']) == 0.0:
                 continue

python/jiminy_py/src/jiminy_py/viewer/panda3d/panda3d_visualizer.py

@@ -24,7 +24,18 @@
 from pathlib import PureWindowsPath
 from contextlib import AbstractContextManager
 from typing import (
-    Dict, Any, List, Callable, Optional, Tuple, Union, Sequence, Literal, Type)
+    Dict,
+    Any,
+    List,
+    Callable,
+    Optional,
+    Tuple,
+    Union,
+    Sequence,
+    Literal,
+    Type,
+    Iterable,
+)
 
 import numpy as np
 
@@ -1357,8 +1368,11 @@ def append_mesh(self,
             # Parse the mesh file toe extract axis up if provided
             def parse_xml(xml_path: str) -> Tuple[ET.Element, Dict[str, str]]:
                 xml_iter = ET.iterparse(xml_path, events=["start-ns"])
-                xml_namespaces = dict(prefix_namespace_pair
-                                      for _, prefix_namespace_pair in xml_iter)
+                prefix_namespace_pairs: Iterable[tuple[str, str]] = (
+                    prefix_namespace_pair
+                    for _, prefix_namespace_pair in xml_iter
+                )
+                xml_namespaces = dict(prefix_namespace_pairs)
                 return (xml_iter.root,  # type: ignore[attr-defined]
                         xml_namespaces)
 

python/jiminy_py/src/jiminy_py/viewer/viewer.py

@@ -2140,6 +2140,7 @@ def add_marker(
         # Add new marker
         create_shape = getattr(self._gui, f"append_{shape}")
         create_shape(self._markers_group, name, **shape_kwargs)
+        assert isinstance(pose, np.ndarray) or callable(pose)
         marker_data: MarkerDataType = {
             "pose": pose, "scale": scale, "color": color}
         self.markers[name] = marker_data