From be037d5cb5c6e72ad23b943840443b6ff50e69a5 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 22 May 2026 13:50:42 +0000
Subject: [PATCH 1/2] Add utility function formerly provided by
 hpp-corbaserver.

---
 src/CMakeLists.txt           |  1 +
 src/pyhpp/pinocchio/utils.py | 57 ++++++++++++++++++++++++++++++++++++
 2 files changed, 58 insertions(+)
 create mode 100644 src/pyhpp/pinocchio/utils.py

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 816a444..7664b04 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -84,6 +84,7 @@ endmacro()
 
 python_install_on_site(pyhpp __init__.py)
 
+python_install_on_site(pyhpp/pinocchio utils.py)
 python_install_on_site(pyhpp/manipulation constraint_graph_factory.py)
 python_install_on_site(pyhpp/core static_stability_constraint_factory.py)
 python_install_on_site(pyhpp/manipulation security_margins.py)
diff --git a/src/pyhpp/pinocchio/utils.py b/src/pyhpp/pinocchio/utils.py
new file mode 100644
index 0000000..0c96618
--- /dev/null
+++ b/src/pyhpp/pinocchio/utils.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+#
+# Copyright (c) 2025 CNRS
+# Author: Florent Lamiraux
+#
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are
+# met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+# DAMAGE.
+
+def shrinkJointRange(robot, joints, ratio):
+    """
+    Reduce the range of selected joints for security
+
+      Input
+        - robot: an instance of Robot class,
+        - joints the list of joint names,
+        - ratio: the range of the joint is shrunk around the middle of its
+                 bounds by this ratio.
+    """
+    model = robot.model()
+    for j in joints:
+        rank = model.getJointId(j)
+        iq = model.joints[rank].idx_q
+        assert model.joints[rank].nq == 1
+        bounds = [model.lowerPositionLimit[iq], model.upperPositionLimit[iq]]
+        width = bounds[1] - bounds[0]
+        if width < 0:
+            raise ValueError(
+                "Cannot shrink range of joint " + j + ". The joint is not bounded."
+            )
+        mean = 0.5 * (bounds[1] + bounds[0])
+        m = mean - 0.5 * ratio * width
+        M = mean + 0.5 * ratio * width
+        model.lowerPositionLimit[iq] = m
+        model.upperPositionLimit[iq] = M
+

From 2a619f3f19356e8e3f595a67b78ce8133ddb7fdf Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 22 May 2026 13:52:18 +0000
Subject: [PATCH 2/2] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 src/pyhpp/pinocchio/utils.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pyhpp/pinocchio/utils.py b/src/pyhpp/pinocchio/utils.py
index 0c96618..e90b7eb 100644
--- a/src/pyhpp/pinocchio/utils.py
+++ b/src/pyhpp/pinocchio/utils.py
@@ -28,6 +28,7 @@
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 # DAMAGE.
 
+
 def shrinkJointRange(robot, joints, ratio):
     """
     Reduce the range of selected joints for security
@@ -54,4 +55,3 @@ def shrinkJointRange(robot, joints, ratio):
         M = mean + 0.5 * ratio * width
         model.lowerPositionLimit[iq] = m
         model.upperPositionLimit[iq] = M
-