[wip] Apply suggestions from code review

Co-authored-by: Filippo Luca Ferretti <[email protected]>

src/jaxsim/api/data.py

@@ -52,7 +52,7 @@ def __hash__(self) -> int:
                 hash(self.state),
                 HashedNumpyArray.hash_of_array(self.gravity),
                 hash(self.soft_contacts_params),
-                hash(tuple(self.time_ns.flatten().tolist())),
+                 HashedNumpyArray.hash_of_array(self.time_ns.flatten()),
             )
         )
 

src/jaxsim/parsers/descriptions/joint.py

@@ -100,52 +100,29 @@ def __eq__(self, other: JointDescription) -> bool:
         if not isinstance(other, JointDescription):
             return False
 
-        if self.name != other.name:
-            return False
-
-        if not np.allclose(self.axis, other.axis):
-            return False
-
-        if not np.allclose(self.pose, other.pose):
-            return False
-
-        if self.jtype != other.jtype:
-            return False
-
-        if self.child != other.child:
-            return False
-
-        if self.parent != other.parent:
-            return False
-
-        if self.index != other.index:
-            return False
-
-        if not np.allclose(self.friction_static, other.friction_static):
-            return False
-
-        if not np.allclose(self.friction_viscous, other.friction_viscous):
-            return False
-
-        if not np.allclose(self.position_limit_damper, other.position_limit_damper):
-            return False
-
-        if not np.allclose(self.position_limit_spring, other.position_limit_spring):
-            return False
-
-        if not np.allclose(self.position_limit, other.position_limit):
-            return False
-
-        if not np.allclose(self.initial_position, other.initial_position):
-            return False
-
-        if not np.allclose(self.motor_inertia, other.motor_inertia):
-            return False
-
-        if not np.allclose(self.motor_viscous_friction, other.motor_viscous_friction):
-            return False
-
-        if not np.allclose(self.motor_gear_ratio, other.motor_gear_ratio):
+        if not all(
+            self.name == other.name
+            and self.jtype == other.jtype
+            and self.child == other.child
+            and self.parent == other.parent
+            and self.index == other.index
+            and all(
+                np.allclose(getattr(self, attr), getattr(other, attr))
+                for attr in [
+                    "axis",
+                    "pose",
+                    "friction_static",
+                    "friction_viscous",
+                    "position_limit_damper",
+                    "position_limit_spring",
+                    "position_limit",
+                    "initial_position",
+                    "motor_inertia",
+                    "motor_viscous_friction",
+                    "motor_gear_ratio",
+                ]
+            )
+        ):
             return False
 
         return True
@@ -163,14 +140,14 @@ def __hash__(self) -> int:
                 hash(self.child),
                 hash(self.parent),
                 hash(int(self.index)) if self.index is not None else 0,
-                HashedNumpyArray.hash_of_array(np.array(self.friction_static)),
-                HashedNumpyArray.hash_of_array(np.array(self.friction_viscous)),
-                HashedNumpyArray.hash_of_array(np.array(self.position_limit_damper)),
-                HashedNumpyArray.hash_of_array(np.array(self.position_limit_spring)),
-                HashedNumpyArray.hash_of_array(np.array(self.position_limit)),
+                HashedNumpyArray.hash_of_array(self.friction_static),
+                HashedNumpyArray.hash_of_array(self.friction_viscous),
+                HashedNumpyArray.hash_of_array(self.position_limit_damper),
+                HashedNumpyArray.hash_of_array(self.position_limit_spring),
+                HashedNumpyArray.hash_of_array(self.position_limit),
                 HashedNumpyArray.hash_of_array(self.initial_position),
-                HashedNumpyArray.hash_of_array(np.array(self.motor_inertia)),
-                HashedNumpyArray.hash_of_array(np.array(self.motor_viscous_friction)),
-                HashedNumpyArray.hash_of_array(np.array(self.motor_gear_ratio)),
+                HashedNumpyArray.hash_of_array(self.motor_inertia),
+                HashedNumpyArray.hash_of_array(self.motor_viscous_friction),
+                HashedNumpyArray.hash_of_array(self.motor_gear_ratio),
             ),
         )

src/jaxsim/parsers/descriptions/link.py

@@ -60,29 +60,21 @@ def __eq__(self, other: LinkDescription) -> bool:
         if not isinstance(other, LinkDescription):
             return False
 
-        if self.name != other.name:
-            return False
-
-        if not np.allclose(self.mass, other.mass):
-            return False
-
-        if not np.allclose(self.inertia, other.inertia):
-            return False
-
-        if self.index != other.index:
-            return False
-
-        if not np.allclose(self.pose, other.pose):
-            return False
-
-        if self.children != other.children:
-            return False
-
-        # Here only using the name to prevent circular recursion
-        if self.parent is not None and self.parent.name != other.parent.name:
-            return False
-
-        if self.parent is None and other.parent is not None:
+        if not all(
+            [
+                self.name == other.name,
+                np.allclose(self.mass, other.mass),
+                np.allclose(self.inertia, other.inertia),
+                self.index == other.index,
+                np.allclose(self.pose, other.pose),
+                self.children == other.children,
+                (
+                    (self.parent is not None and self.parent.name == other.parent.name)
+                    if self.parent is not None
+                    else other.parent is None
+                ),
+            ]
+        ):
             return False
 
         return True

src/jaxsim/parsers/descriptions/model.py

@@ -249,22 +249,16 @@ def __eq__(self, other: ModelDescription) -> bool:
         if not isinstance(other, ModelDescription):
             return False
 
-        if self.name != other.name:
-            return False
-
-        if self.fixed_base != other.fixed_base:
-            return False
-
-        if self.root != other.root:
-            return False
-
-        if self.joints != other.joints:
-            return False
-
-        if self.frames != other.frames:
-            return False
-
-        if self.root_pose != other.root_pose:
+        if not all(
+            [
+                self.name == other.name,
+                self.fixed_base == other.fixed_base,
+                self.root == other.root,
+                self.joints == other.joints,
+                self.frames == other.frames,
+                self.root_pose == other.root_pose,
+            ]
+        ):
             return False
 
         return True