12.6

Adjusted Signal

12.6

Raw Pattern Score

100%

Time Factor

2026-10-25

Last Push

3.6K

Stars

C++

Language

239.5K

Lines of Code

709

Files

2.3K

Pattern Hits

2026-10-31

Scan Date

0.12

HC Hit Rate

Risk Review · Payload v1

Use each vector to guide manual verification of the underlying findings.

Payload schema: 1.0.0 · Engine: 2.0.0 · Scoring: heuristic-density-v1 · Scan date: 2026-10-31.

Cognitive Ownership Risk 31.1/100 · MEDIUM

Can maintainers explain intent, assumptions, and trade-offs? 1649 finding(s).

Hallucinated Dependency & Supply Chain Risk 8.7/100 · LOW

Are imports declared and package/API names verified? 412 finding(s).

Agent Over-Engineering Ratio 30.3/100 · MEDIUM

Are wrappers, guards, and repeated structures necessary? 1098 finding(s).

PR Review Velocity Impact 47.7/100 · MEDIUM

Which changes need focused human review? 2319 finding(s).

What These Metrics Mean

Adjusted Signal: Legacy pattern score normalized per 1,000 scanned lines and multiplied by the repository-level time factor. It is not an estimate of AI authorship.
Raw Pattern Score: Sum of severity- and context-weighted pattern findings before applying the time factor.
Time Factor: A coarse multiplier based on repository last-push metadata. It does not identify when individual code was written.
Pattern Hits: Count of configured pattern findings. Review each location and surrounding code before acting.
HC Hit Rate: High- and critical-severity findings per scanned file. Severity is a configured detector weight, not proof of a vulnerability or authorship.
Lines / Files: Scan coverage denominators used by the legacy normalized score.

Pattern-Signal History

This chart tracks the legacy adjusted pattern score across scan runs. Changes can reflect source changes, scan coverage, or detector/scoring versions; they do not measure AI adoption or prove that a team refactored code. Compare runs only when their scoring versions are compatible. The dashed line tracks the raw pattern-hit count.

Severity Breakdown

Groups findings by configured severity weight. Severity is not a confidence estimate, security rating, or proof that a package is missing. Verify imports against the project's manifests and inspect each finding in its local design context.

CRITICAL 0HIGH 82MEDIUM 188LOW 2049

Directory Score Breakdown

This horizontal bar chart shows where configured pattern scores accumulate across directories. Treat the bars as locations to inspect, not as evidence of authorship or code quality. Use the file-level findings to decide whether a directory needs a focused ownership, dependency, complexity, or review check.

Pattern Findings

The scanner identified 2319 distinct pattern matches across 16 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a detector match to inspect in context. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.

Reading the findings table: The Severity column indicates the configured finding weight (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — legacy comment-context matches receive a ×1.5 score weight. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier under the legacy scoring model.

Hyper-Verbose Identifiers799 hits · 899 pts

Severity	File	Line	Snippet	Context
LOW⚡	tests/test_planner_unknown_keywords.py	29	def test_plot_warns_and_ignores(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	38	def test_plot_names_every_keyword(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	48	def test_known_keywords_do_not_warn(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	55	def test_constructor_warns_and_ignores(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	61	def test_plot_bg_warns_and_ignores(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	67	def test_warning_points_at_the_caller(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	118	def test_labelvalues_warning_points_at_the_caller(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	124	def test_plot_bg_labelvalues_is_deprecated(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	132	def test_default_has_no_labels(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	136	def test_every_free_cell_is_labelled_with_its_distance(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	146	def test_obstacles_are_not_labelled(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	152	def test_euclidean_values_have_one_decimal(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	158	def test_default_labels_are_red(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	163	def test_default_labels_have_a_white_outline(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	172	def test_label_style_can_remove_the_outline(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	182	def test_without_a_distance_field(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	225	def test_explicit_argument_does_not_override_bgargs(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	233	def test_distance_is_metric_with_a_warning(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	239	def test_warning_points_at_the_caller(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	245	def test_metric_does_not_warn(self):	CODE
LOW⚡	tests/test_planner_unknown_keywords.py	251	def test_default_is_unchanged(self):	CODE
LOW	tests/test_planner_unknown_keywords.py	101	def test_labels_is_the_argument(self):	CODE
LOW	tests/test_planner_unknown_keywords.py	107	def test_labelvalues_is_deprecated(self):	CODE
LOW	tests/test_planner_unknown_keywords.py	199	def test_colorbar_style_reaches_the_colorbar(self):	CODE
LOW	tests/test_quintic_conditioning.py	23	def test_quintic_func_matches_polynomial(	CODE
LOW	tests/test_quintic_conditioning.py	46	def test_quintic_func_physical_endpoint_velocities(duration: float) -> None:	CODE
LOW	tests/test_quintic_conditioning.py	69	def test_quintic_func_long_duration_regression() -> None:	CODE
LOW	tests/test_quintic_conditioning.py	76	def test_quintic_func_methods_agree() -> None:	CODE
LOW⚡	tests/test_quintic_conditioning.py	91	def test_quintic_func_bad_duration(duration: float, method: str) -> None:	CODE
LOW⚡	tests/test_quintic_conditioning.py	96	def test_quintic_func_bad_arguments() -> None:	CODE
LOW⚡	tests/test_quintic_conditioning.py	104	def test_quintic_func_sample_shapes(samples: object) -> None:	CODE
LOW⚡	tests/test_quintic_conditioning.py	110	def test_quintic_integer_samples(steps: int) -> None:	CODE
LOW	tests/test_quintic_conditioning.py	128	def test_quintic_sampled_time_origin(duration: float, origin: float) -> None:	CODE
LOW	tests/test_quintic_conditioning.py	146	def test_quintic_multi_axis_matches_jtraj(duration: float) -> None:	CODE
LOW	tests/test_quintic_conditioning.py	159	def test_quintic_needs_two_samples() -> None:	CODE
LOW	tests/test_quintic_conditioning.py	166	def test_bdsim_quintic_block_long_duration() -> None:	CODE
LOW	tests/test_default_backend.py	17	def test_class_default_reaches_every_robot(restore_class_default) -> None:	CODE
LOW⚡	tests/test_default_backend.py	28	def test_instance_value_wins_over_the_class_default(restore_class_default) -> None:	CODE
LOW⚡	tests/test_default_backend.py	36	def test_default_backend_remains_a_property(restore_class_default) -> None:	CODE
LOW⚡	tests/test_default_backend.py	42	def test_class_default_can_be_cleared(restore_class_default) -> None:	CODE
LOW	tests/test_gravload_x.py	12	def test_prismatic_gravity_wrench_has_analytic_magnitude() -> None:	CODE
LOW	tests/test_gravload_x.py	20	def test_gravity_override_matches_joint_load_and_preserves_state(model: str) -> None:	CODE
LOW	tests/test_gravload_x.py	36	def test_gravity_trajectory_returns_six_components_per_pose(model: str) -> None:	CODE
LOW	tests/test_gravload_x.py	59	def test_precomputed_inverse_applies_to_gravity_trajectory() -> None:	CODE
LOW	tests/test_dynamics_defaults.py	25	def test_payload_without_a_position_is_at_the_origin():	CODE
LOW	tests/test_dynamics_defaults.py	36	def test_payload_zero_mass_is_a_no_op():	CODE
LOW	tests/test_dynamics_defaults.py	43	def test_fdyn_without_optional_arguments():	CODE
LOW	tests/test_planner_course_endpoints.py	19	def test_reeds_shepp_keeps_zero_x_terminal_pose(curvature, stepsize, relative_goal):	CODE
LOW⚡	tests/test_planner_course_endpoints.py	31	def test_reeds_shepp_terminal_pose_is_frame_invariant(start):	CODE
LOW⚡	tests/test_planner_course_endpoints.py	40	def test_dubins_keeps_stationary_path_pose(start):	CODE
LOW⚡	tests/test_planner_course_endpoints.py	50	def test_nonzero_terminal_coordinate_controls(planner, goal):	CODE
LOW	tests/test_mobile_posegraph.py	45	def test_pose_is_the_vertex_coordinate(self):	CODE
LOW⚡	tests/test_mobile_posegraph.py	96	def test_unfinished_grid_conversions_are_gone(self):	CODE
LOW⚡	tests/test_mobile_posegraph.py	102	def test_vertex_counter_is_not_global_state(self):	CODE
LOW⚡	tests/test_mobile_posegraph.py	105	def test_indices_belong_to_the_graph(self):	CODE
LOW⚡	tests/test_mobile_posegraph.py	113	def test_lidar_record_before_any_vertex(self):	CODE
LOW	tests/test_mobile_posegraph.py	142	def test_verbose_lidar_summary(self):	CODE
LOW	tests/test_mobile_posegraph.py	162	def test_landmarks_are_not_supported(self):	CODE
LOW	tests/test_mobile_posegraph.py	221	def test_text_option_is_forwarded(self):	CODE
LOW	tests/test_mobile_posegraph.py	263	def test_styles_merge_over_defaults(self):	CODE
739 more matches not shown…

Over-Commented Block613 hits · 548 pts

Severity	File	Line	Snippet	Context
LOW	CMakeLists.txt	21	# tests/test_fknm_fallback.py), so this is a real, working configuration,	COMMENT
LOW	tests/test_ELink.py	221	# l0 = rtb.Link()	COMMENT
LOW	tests/test_mobile_planner.py	121	self.assertTrue(hasattr(status, "length"))	COMMENT
LOW	tests/test_mobile_planner.py	141	# self.assertTrue(all(path[0,:] == [20,10]))	COMMENT
LOW	tests/test_mobile_planner.py	161	# dx = DXform(map)	COMMENT
LOW	tests/test_Robot.py	861	sol = getattr(panda, method)(Tep, tool=tool, **kwargs)	COMMENT
LOW	tests/test_DHRobot.py	401	nt.assert_array_equal(panda.islimit(), ans)	COMMENT
LOW	tests/test_DHRobot.py	641	# [-0.5366, 0.8439, 0, 0, 0, 0],	COMMENT
LOW	tests/test_DHRobot.py	781	# def test_gravjac(self):	COMMENT
LOW	tests/test_DHRobot.py	801	# res4 = r1.gravjac(q)	COMMENT
LOW	tests/test_DHRobot.py	821	# q = [1, 1, 1]	COMMENT
LOW	tests/test_DHRobot.py	841	# nt.assert_array_almost_equal(q2, res2, decimal=4)	COMMENT
LOW	tests/test_DHRobot.py	861	# r0 = rp.DHRobot([l0, l1, l2, l3, l4, l5])	COMMENT
LOW	tests/test_DHRobot.py	881		COMMENT
LOW	tests/test_DHRobot.py	901	# q1, _ = r0.ikine6s(T1, left=False, elbow_up=False, wrist_flip=True)	COMMENT
LOW	tests/test_DHRobot.py	921	# T1 = r0.fkine(q)	COMMENT
LOW	tests/test_DHRobot.py	941	# r0 = rp.models.DH.Puma560()	COMMENT
LOW	tests/test_DHRobot.py	961	# l5 = rp.RevoluteDH()	COMMENT
LOW	tests/test_DHRobot.py	1181	# puma = rp.models.DH.Puma560()	COMMENT
LOW	tests/test_DHRobot.py	1201	# self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)	COMMENT
LOW	tests/test_DHRobot.py	1221	# self.assertTrue(sol0[0].success)	COMMENT
LOW	tests/test_DHRobot.py	1421	taui0 = puma.itorque(q, qdd)	COMMENT
LOW	tests/test_DHRobot.py	1501	a4 = 0.0	COMMENT
LOW	tests/test_ERobot.py	221	# Unlike test_invdyn (whose second link rotates with joint2), l2's	COMMENT
LOW	tests/test_VPython.py	1	# #!/usr/bin/env python3	COMMENT
LOW	tests/test_VPython.py	21	# from roboticstoolbox.backends.VPython.graphicalrobot import GraphicalRobot, \	COMMENT
LOW	tests/test_VPython.py	41	# # 0.707107 0.707107 0 1	COMMENT
LOW	tests/test_VPython.py	61	# # self.assertEqual(get_pose_x_vec(self.se3), vector(1, 0, 0))	COMMENT
LOW	tests/test_VPython.py	81	# # entity = box(	COMMENT
LOW	tests/test_VPython.py	101	# # ['deg', 0, 0],	COMMENT
LOW	tests/test_VPython.py	121	# # def test_graphics_canvas_init(self):	COMMENT
LOW	tests/test_VPython.py	141	# # # Check all objects in scene are visible (default scene will just have	COMMENT
LOW	tests/test_VPython.py	161	# # r.append_link('r', SE3(), 1.0, [0, 0], 0)	COMMENT
LOW	tests/test_VPython.py	181	# # [0, -1, 0, 3],	COMMENT
LOW	tests/test_VPython.py	201	# # [0, 0, 0, 1]	COMMENT
LOW	tests/test_VPython.py	221	# # self.assertEqual(obj.get_joint_type(), typ)	COMMENT
LOW	tests/test_VPython.py	241	# # joint = RotationalJoint(	COMMENT
LOW	tests/test_VPython.py	261	# # self.assertRaises(	COMMENT
LOW	tests/test_VPython.py	281	# # def test_gripper_joint_init(self):	COMMENT
LOW	tests/test_VPython.py	301		COMMENT
LOW	tests/test_VPython.py	321	# # self.robot_scene.scene.title = "Test Set Joint Orientation"	COMMENT
LOW	tests/test_VPython.py	341	# # self.robot_se3, self.robot_structure, self.robot_scene, [0, 0], 0)	COMMENT
LOW	tests/test_VPython.py	361	# # num_obj_initial = len(self.robot_scene.scene.objects)	COMMENT
LOW	tests/test_VPython.py	381	# # self.robot_scene.grid_visibility(False)	COMMENT
LOW	tests/test_VPython.py	401	# # num_obj_on = len(self.robot_scene.scene.objects)	COMMENT
LOW	tests/test_VPython.py	421	# # self.assertEqual(gph_obj.color, vector(0.5, 0, 1))	COMMENT
LOW	tests/test_VPython.py	441	# # self.robot_se3, self.robot_structure, self.robot_scene, [0, 0], 0)	COMMENT
LOW	tests/test_VPython.py	461		COMMENT
LOW	tests/test_VPython.py	481	# # def test_joint_get_pose(self):	COMMENT
LOW	tests/test_VPython.py	501	# # self.robot_se3, self.robot_structure, self.robot_scene, [0, 0], 0)	COMMENT
LOW	tests/test_VPython.py	521	# # r = RotationalJoint(	COMMENT
LOW	tests/test_VPython.py	541	# # self.robot_se3, self.robot_structure, self.robot_scene, [0, 0], 0)	COMMENT
LOW	tests/test_VPython.py	561	# # joint2 = RotationalJoint(	COMMENT
LOW	tests/test_VPython.py	581	# # self.assertRaises(RuntimeError, robot2.append_made_link, joint2)	COMMENT
LOW	tests/test_VPython.py	601	# # self.robot_structure, [0, 0], 0)	COMMENT
LOW	tests/test_VPython.py	621	# # # Count num objects	COMMENT
LOW	tests/test_VPython.py	641	# # # Attempt to detach from empty	COMMENT
LOW	tests/test_VPython.py	661	# # # Take 1 for each link	COMMENT
LOW	tests/test_VPython.py	681	# # # Count num obj visible	COMMENT
LOW	tests/test_VPython.py	701		COMMENT
553 more matches not shown…

Decorative Section Separators133 hits · 393 pts

Severity	File	Line	Snippet	Context
MEDIUM⚡	CMakeLists.txt	32	# -----------------------------------------------------------------------	COMMENT
MEDIUM⚡	CMakeLists.txt	35	# -----------------------------------------------------------------------	COMMENT
MEDIUM⚡	CMakeLists.txt	45	# -----------------------------------------------------------------------	COMMENT
MEDIUM⚡	CMakeLists.txt	49	# -----------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_smoke.py	16	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_smoke.py	18	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_fknm_fallback.py	923	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_fknm_fallback.py	930	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	68	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	70	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	94	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	96	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	174	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	176	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	268	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	270	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	300	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	302	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	332	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	334	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	369	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	371	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	395	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	411	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	462	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	464	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	521	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	523	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	569	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	571	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	618	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	626	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	669	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	673	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	746	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	767	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	871	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	879	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	1094	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	1105	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	1179	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/test_fknm_fallback.py	1181	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_collision.py	54	# ── environment guards ────────────────────────────────────────────────────────	COMMENT
MEDIUM⚡	tests/test_collision.py	189	# ── Mixed shape pairs ─────────────────────────────────────────────────────────	COMMENT
MEDIUM⚡	tests/test_collision.py	217	# ── iscollided ────────────────────────────────────────────────────────────────	COMMENT
MEDIUM⚡	tests/test_collision.py	243	# ── deprecation warnings ──────────────────────────────────────────────────────	COMMENT
MEDIUM⚡	tests/test_collision.py	265	# ── pose / world-frame transforms ─────────────────────────────────────────────	COMMENT
MEDIUM⚡	tests/test_collision.py	294	# ── collision=False guard ─────────────────────────────────────────────────────	COMMENT
MEDIUM⚡	tests/test_collision.py	311	# ── return type / structure ───────────────────────────────────────────────────	COMMENT
MEDIUM⚡	tests/test_collision.py	423	# ── _init_coal collision=False direct call ────────────────────────────────────	COMMENT
MEDIUM	tests/test_collision.py	32	# ── helpers ───────────────────────────────────────────────────────────────────	COMMENT
MEDIUM	tests/test_collision.py	85	# ── Sphere – Sphere ───────────────────────────────────────────────────────────	COMMENT
MEDIUM	tests/test_collision.py	138	# ── Cuboid – Cuboid ───────────────────────────────────────────────────────────	COMMENT
MEDIUM	tests/test_collision.py	168	# ── Cylinder ──────────────────────────────────────────────────────────────────	COMMENT
MEDIUM	tests/test_collision.py	333	# ── original test_closest chain (ported from spatialgeometry test suite) ──────	COMMENT
MEDIUM	tests/test_collision.py	373	# ── to_dict ───────────────────────────────────────────────────────────────────	COMMENT
MEDIUM	examples/benchmark_rne.py	44	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	examples/benchmark_rne.py	56	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	examples/benchmark_rne.py	72	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	examples/benchmark_rne.py	74	# ---------------------------------------------------------------------------	COMMENT
73 more matches not shown…

Unused Imports398 hits · 370 pts

Severity	File	Line	Context
LOW	tests/test_mobile_planner.py	10	CODE
LOW	tests/test_analytic_ik.py	14	CODE
LOW	tests/test_blocks.py	12	CODE
LOW	tests/test_ETS2.py	14	CODE
LOW	tests/test_ETS.py	14	CODE
LOW	tests/test_mobile.py	14	CODE
LOW	tests/test_mobile.py	15	CODE
LOW	tests/test_mobile.py	16	CODE
LOW	tests/test_mobile.py	17	CODE
LOW	tests/test_demo.py	56	CODE
LOW	tests/test_BaseRobot.py	656	CODE
LOW	tests/test_BaseRobot.py	680	CODE
LOW	docs/lite/browser_check/check_lite_in_browser.py	33	CODE
LOW	docs/notebooks/_rtb_nb_bootstrap.py	57	CODE
LOW	docs/notebooks/_rtb_nb_bootstrap.py	62	CODE
LOW	docs/notebooks/pre_commit.py	16	CODE
LOW	docs/notebooks/sync_bootstrap.py	15	CODE
LOW	docs/notebooks/clear_outputs.py	15	CODE
LOW	docs/notebooks/dynamics.py	9	CODE
LOW	examples/vehicle1.py	3	CODE
LOW	examples/icra2021.py	11	CODE
LOW	examples/icra2021.py	12	CODE
LOW	examples/icra2021.py	13	CODE
LOW	examples/icra2021.py	19	CODE
LOW	examples/puma_jtraj.py	2	CODE
LOW	src/roboticstoolbox/__init__.py	1	CODE
LOW	src/roboticstoolbox/__init__.py	3	CODE
LOW	src/roboticstoolbox/__init__.py	5	CODE
LOW	src/roboticstoolbox/__init__.py	6	CODE
LOW	src/roboticstoolbox/__init__.py	7	CODE
LOW	src/roboticstoolbox/blocks/mobile.py	1	CODE
LOW	src/roboticstoolbox/blocks/uav.py	1	CODE
LOW	src/roboticstoolbox/blocks/__init__.py	1	CODE
LOW	src/roboticstoolbox/blocks/__init__.py	2	CODE
LOW	src/roboticstoolbox/blocks/__init__.py	3	CODE
LOW	src/roboticstoolbox/blocks/__init__.py	4	CODE
LOW	src/roboticstoolbox/blocks/spatial.py	1	CODE
LOW	src/roboticstoolbox/blocks/arm.py	1	CODE
LOW	src/roboticstoolbox/demo/tripleangledemo.py	7	CODE
LOW	src/roboticstoolbox/demo/twistdemo.py	7	CODE
LOW	src/roboticstoolbox/demo/eigdemo.py	15	CODE
LOW	src/roboticstoolbox/tools/jsingu.py	1	CODE
LOW	src/roboticstoolbox/tools/params.py	1	CODE
LOW	src/roboticstoolbox/tools/plot.py	1	CODE
LOW	src/roboticstoolbox/tools/p_servo.py	1	CODE
LOW	src/roboticstoolbox/tools/null.py	6	CODE
LOW	src/roboticstoolbox/tools/__init__.py	1	CODE
LOW	src/roboticstoolbox/tools/__init__.py	2	CODE
LOW	src/roboticstoolbox/tools/__init__.py	2	CODE
LOW	src/roboticstoolbox/tools/__init__.py	2	CODE
LOW	src/roboticstoolbox/tools/__init__.py	3	CODE
LOW	src/roboticstoolbox/tools/__init__.py	4	CODE
LOW	src/roboticstoolbox/tools/__init__.py	5	CODE
LOW	src/roboticstoolbox/tools/__init__.py	5	CODE
LOW	src/roboticstoolbox/tools/__init__.py	5	CODE
LOW	src/roboticstoolbox/tools/__init__.py	5	CODE
LOW	src/roboticstoolbox/tools/__init__.py	5	CODE
LOW	src/roboticstoolbox/tools/__init__.py	5	CODE
LOW	src/roboticstoolbox/tools/__init__.py	5	CODE
LOW	src/roboticstoolbox/tools/__init__.py	5	CODE
338 more matches not shown…

Empty Error Handlers35 hits · 175 pts

Severity	File	Line	Snippet	Context
HIGH	tests/test_Robot.py	680	except PermissionError:	CODE
HIGH	tests/test_Robot.py	698	except PermissionError:	CODE
HIGH	tests/test_Robot.py	707	except PermissionError:	CODE
HIGH	tests/test_Robot.py	716	except PermissionError:	CODE
HIGH	tests/test_PyPlot.py	98	except EOFError:	CODE
HIGH	tests/test_IK.py	427	except BaseException:	CODE
HIGH	tests/test_render_mode.py	75	except Exception:	CODE
HIGH	tests/test_render_mode.py	100	except Exception:	CODE
HIGH	tests/test_swift_plot_options.py	168	except Exception:	CODE
HIGH	docs/lite/browser_check/check_lite_in_browser.py	172	except PlaywrightError:	CODE
HIGH	docs/lite/browser_check/check_lite_in_browser.py	270	except PlaywrightError:	CODE
HIGH	examples/_cpu_info.py	56	except Exception:	CODE
HIGH	examples/_cpu_info.py	27	except Exception:	CODE
HIGH	examples/_cpu_info.py	36	except Exception:	CODE
HIGH	src/roboticstoolbox/__init__.py	110	except:	CODE
HIGH	src/roboticstoolbox/backends/PyPlot/PyPlot2.py	44	except ImportError: # pragma nocover	CODE
HIGH	src/roboticstoolbox/backends/PyPlot/PyPlot2.py	52	except ImportError: # pragma nocover	CODE
HIGH	src/roboticstoolbox/backends/PyPlot/PyPlot.py	50	except ImportError: # pragma nocover	CODE
HIGH	src/roboticstoolbox/backends/PyPlot/PyPlot.py	58	except ImportError: # pragma nocover	CODE
HIGH	src/roboticstoolbox/backends/PyPlot/PyPlot.py	570	except ImportError: # pragma nocover	CODE
HIGH	src/roboticstoolbox/models/URDF/URDFRobot.py	238	except (ImportError, AttributeError): # pragma nocover	CODE
HIGH	src/roboticstoolbox/models/URDF/URDFRobot.py	458	except AttributeError:	CODE
HIGH	src/roboticstoolbox/models/URDF/URDFRobot.py	464	except AttributeError:	CODE
HIGH	src/roboticstoolbox/robot/BaseRobot.py	302	except AttributeError:	CODE
HIGH	src/roboticstoolbox/robot/BaseRobot.py	1839	except TypeError: # pragma nocover	CODE
HIGH	src/roboticstoolbox/robot/DHRobot.py	225	except AttributeError:	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	457	except sp.polys.polyerrors.PolynomialError:	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	708	except sp.polys.polyerrors.PolynomialError:	CODE
HIGH	src/roboticstoolbox/robot/RobotPlottingMPL.py	186	except Exception:	CODE
HIGH	src/roboticstoolbox/mobile/Vehicle.py	76	except Exception:	CODE
HIGH	src/roboticstoolbox/mobile/Vehicle.py	84	except Exception:	CODE
HIGH	src/roboticstoolbox/mobile/Vehicle.py	100	except Exception:	CODE
HIGH	src/roboticstoolbox/mobile/DstarPlanner.py	104	except IndexError:	CODE
HIGH	src/roboticstoolbox/ets/fknm.py	135	except (TypeError, ValueError):	CODE
HIGH	src/roboticstoolbox/ets/fknm.py	384	except TypeError:	CODE

Cross-File Repetition31 hits · 155 pts

Severity	File	Snippet	Context
HIGH	tests/test_ELink.py	created on fri may 1 14:04:04 2020 @author: jesse haviland	STRING
HIGH	tests/test_Link.py	created on fri may 1 14:04:04 2020 @author: jesse haviland	STRING
HIGH	tests/test_ERobot.py	created on fri may 1 14:04:04 2020 @author: jesse haviland	STRING
HIGH	tests/test_ET.py	created on fri may 1 14:04:04 2020 @author: jesse haviland	STRING
HIGH	tests/test_ETS2.py	created on fri may 1 14:04:04 2020 @author: jesse haviland	STRING
HIGH	tests/test_ETS.py	created on fri may 1 14:04:04 2020 @author: jesse haviland	STRING
HIGH	tests/test_BaseRobot.py	created on fri may 1 14:04:04 2020 @author: jesse haviland	STRING
HIGH	src/roboticstoolbox/models/URDF/wx200.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/px150.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/wx250s.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/rx150.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/px100.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/wx250.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/vx300.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/vx300s.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/rx200.py	class that imports a rx200 urdf model ``rx200()`` is a class which imports an interbotix rx200 robot definition from a u	STRING
HIGH	src/roboticstoolbox/models/URDF/UR3.py	class that imports a ur5 urdf model ``ur3()`` is a class which imports a universal robotics ur5 robot definition from a	STRING
HIGH	src/roboticstoolbox/models/URDF/UR10.py	class that imports a ur5 urdf model ``ur3()`` is a class which imports a universal robotics ur5 robot definition from a	STRING
HIGH	src/roboticstoolbox/models/URDF/UR5.py	class that imports a ur5 urdf model ``ur3()`` is a class which imports a universal robotics ur5 robot definition from a	STRING
HIGH	src/roboticstoolbox/mobile/PlannerBase.py	get private random number generator :return: numpy random number generator :rtype: :class:`numpy.random.generator` has m	STRING
HIGH	src/roboticstoolbox/mobile/sensors.py	get private random number generator :return: numpy random number generator :rtype: :class:`numpy.random.generator` has m	STRING
HIGH	src/roboticstoolbox/mobile/Vehicle.py	get private random number generator :return: numpy random number generator :rtype: :class:`numpy.random.generator` has m	STRING
HIGH	src/roboticstoolbox/mobile/ParticleFilter.py	get verbosity state :return: verbosity :rtype: bool	STRING
HIGH	src/roboticstoolbox/mobile/sensors.py	get verbosity state :return: verbosity :rtype: bool	STRING
HIGH	src/roboticstoolbox/mobile/EKF.py	get verbosity state :return: verbosity :rtype: bool	STRING
HIGH	src/roboticstoolbox/mobile/ParticleFilter.py	size of robot workspace :return: workspace bounds [xmin, xmax, ymin, ymax] :rtype: ndarray(4) returns the bounds of the	STRING
HIGH	src/roboticstoolbox/mobile/Vehicle.py	size of robot workspace :return: workspace bounds [xmin, xmax, ymin, ymax] :rtype: ndarray(4) returns the bounds of the	STRING
HIGH	src/roboticstoolbox/mobile/EKF.py	size of robot workspace :return: workspace bounds [xmin, xmax, ymin, ymax] :rtype: ndarray(4) returns the bounds of the	STRING
HIGH	src/roboticstoolbox/mobile/Animations.py	python ekf planner @author: peter corke, original matlab code and python version @author: kristian gibson, initial matla	STRING
HIGH	src/roboticstoolbox/mobile/Vehicle.py	python ekf planner @author: peter corke, original matlab code and python version @author: kristian gibson, initial matla	STRING
HIGH	src/roboticstoolbox/mobile/EKF.py	python ekf planner @author: peter corke, original matlab code and python version @author: kristian gibson, initial matla	STRING

Self-Referential Comments44 hits · 128 pts

Severity	File	Line	Snippet	Context
MEDIUM⚡	tests/test_VPython.py	306	# # # Create a scene	COMMENT
MEDIUM⚡	tests/test_VPython.py	309	# # # Create a joint	COMMENT
MEDIUM⚡	tests/test_VPython.py	320	# # # Create a scene	COMMENT
MEDIUM⚡	tests/test_VPython.py	323	# # # Create a joint	COMMENT
MEDIUM⚡	tests/test_VPython.py	485	# # # Create a joint	COMMENT
MEDIUM⚡	tests/test_VPython.py	499	# # # Create a joint	COMMENT
MEDIUM	tests/test_VPython.py	73	# # # Create a scene	COMMENT
MEDIUM	tests/test_VPython.py	76	# # # Create a basic entity	COMMENT
MEDIUM	tests/test_VPython.py	122	# # # Create a canvas with all options being used (different to defaults)	COMMENT
MEDIUM	tests/test_VPython.py	138	# # # Create a scene, with grid=True (default)	COMMENT
MEDIUM	tests/test_VPython.py	153	# # # Create a scene (no grid visible)	COMMENT
MEDIUM	tests/test_VPython.py	159	# # # Create a 3-link robot	COMMENT
MEDIUM	tests/test_VPython.py	171	# # # Create a scene, no grid	COMMENT
MEDIUM	tests/test_VPython.py	209	# # # Create a scene	COMMENT
MEDIUM	tests/test_VPython.py	336	# # # Create a scene	COMMENT
MEDIUM	tests/test_VPython.py	339	# # # Create a joint	COMMENT
MEDIUM	tests/test_VPython.py	356	# # # Create a joint	COMMENT
MEDIUM	tests/test_VPython.py	383	# # # Create a joint	COMMENT
MEDIUM	tests/test_VPython.py	459	# # # Create a joint	COMMENT
MEDIUM	tests/test_VPython.py	539	# # # Create a joint	COMMENT
MEDIUM	tests/test_VPython.py	573	# # # Create a new scene	COMMENT
MEDIUM	tests/test_VPython.py	576	# # # Create a new robot in new scene	COMMENT
MEDIUM	tests/test_VPython.py	731	# # # Create a two link robot	COMMENT
MEDIUM	tests/test_VPython.py	775	# # # Create a two link robot	COMMENT
MEDIUM	tests/test_VPython.py	895	# # # Create a scene	COMMENT
MEDIUM	tests/test_VPython.py	906	# # # Create a scene, with grid=True (default)	COMMENT
MEDIUM	examples/mmc.py	22	# Create a Panda robot object	COMMENT
MEDIUM	examples/park.py	23	# Create a Panda robot object	COMMENT
MEDIUM	examples/puma_swift.py	13	# Create a puma in the default zero pose	COMMENT
MEDIUM	examples/swift_recording.py	24	# Create a Panda robot object	COMMENT
MEDIUM	examples/baur.py	23	# Create a Panda robot object	COMMENT
MEDIUM	examples/neo.py	17	# Create a Panda robot object	COMMENT
MEDIUM	src/roboticstoolbox/backends/PyPlot/PyPlot2.py	138	# Create a 2D axes	COMMENT
MEDIUM	src/roboticstoolbox/backends/PyPlot/PyPlot.py	217	# Create a 3D axes	COMMENT
MEDIUM	src/roboticstoolbox/backends/Dynamixel/dynamixel_io.py	27	# Initialize PortHandler instance	COMMENT
MEDIUM	src/roboticstoolbox/backends/Dynamixel/dynamixel_io.py	48	# Initialize PacketHandler instance	COMMENT
MEDIUM	src/roboticstoolbox/mobile/Vehicle.py	515	# This function is overridden by the child class	STRING
MEDIUM	src/roboticstoolbox/mobile/ReedsSheppPlanner.py	19	# The following code is modified from Python Robotics	COMMENT
MEDIUM	src/roboticstoolbox/mobile/DstarPlanner.py	30	# The following code is modified from Python Robotics	COMMENT
MEDIUM	src/roboticstoolbox/mobile/PoseGraph.py	68	# The following method was inspired by, and modeled on, the MATLAB/Octave file	COMMENT
MEDIUM	src/roboticstoolbox/mobile/PoseGraph.py	606	# The following methods were inspired by, and modeled on, the MATLAB/Octave file	STRING
MEDIUM	src/roboticstoolbox/mobile/QuinticPolyPlanner.py	18	# The following code is modified from Python Robotics	COMMENT
MEDIUM	src/roboticstoolbox/mobile/DubinsPlanner.py	3	# The following code is modified from Python Robotics	COMMENT
MEDIUM	src/roboticstoolbox/mobile/RRTPlanner.py	3	# The following code is based on code from Python Robotics	COMMENT

Deep Nesting134 hits · 120 pts

Severity	File	Line	Context
LOW	tests/test_plot_env.py	136	CODE
LOW	tests/test_PyPlot.py	72	CODE
LOW	tests/test_blocks.py	364	CODE
LOW	tests/test_ets_swap_quarter.py	36	CODE
LOW	tests/test_ets_swap_quarter.py	57	CODE
LOW	tests/test_ets_replace.py	33	CODE
LOW	tests/test_symbolic_ik_rr.py	471	CODE
LOW	tests/test_graph_planners.py	381	CODE
LOW	tests/test_trajectory.py	20	CODE
LOW	tests/test_trajectory.py	73	CODE
LOW	tests/test_models.py	182	CODE
LOW	tests/test_symbolic_ik.py	311	CODE
LOW	docs/lite/browser_check/check_lite_in_browser.py	139	CODE
LOW	docs/lite/browser_check/check_lite_in_browser.py	229	CODE
LOW	docs/source/exts/format_example.py	29	CODE
LOW	docs/notebooks/_rtb_nb_bootstrap.py	16	CODE
LOW	examples/_cpu_info.py	11	CODE
LOW	examples/benchmark_roadmap.py	38	CODE
LOW	src/roboticstoolbox/blocks/mobile.py	374	CODE
LOW	src/roboticstoolbox/blocks/uav.py	155	CODE
LOW	src/roboticstoolbox/tools/jsingu.py	21	CODE
LOW	src/roboticstoolbox/tools/trajectory.py	740	CODE
LOW	src/roboticstoolbox/tools/DHFactor.py	29	CODE
LOW	src/roboticstoolbox/tools/DHFactor.py	138	CODE
LOW	src/roboticstoolbox/tools/DHFactor.py	152	CODE
LOW	src/roboticstoolbox/tools/DHFactor.py	291	CODE
LOW	src/roboticstoolbox/tools/DHFactor.py	315	CODE
LOW	src/roboticstoolbox/tools/trchain.py	68	CODE
LOW	src/roboticstoolbox/tools/urdf/urdf.py	178	CODE
LOW	src/roboticstoolbox/backends/PyPlot/RobotPlot.py	126	CODE
LOW	src/roboticstoolbox/backends/PyPlot/PyPlot2.py	326	CODE
LOW	src/roboticstoolbox/backends/PyPlot/PyPlot.py	280	CODE
LOW	src/roboticstoolbox/backends/Dynamixel/dynamixel_io.py	168	CODE
LOW	src/roboticstoolbox/backends/Dynamixel/dynamixel_io.py	181	CODE
LOW	src/roboticstoolbox/backends/Dynamixel/dynamixel_io.py	346	CODE
LOW	…ds/Dynamixel/dynamixel_sdk/protocol2_packet_handler.py	55	CODE
LOW	…ds/Dynamixel/dynamixel_sdk/protocol2_packet_handler.py	77	CODE
LOW	…ds/Dynamixel/dynamixel_sdk/protocol2_packet_handler.py	481	CODE
LOW	…ds/Dynamixel/dynamixel_sdk/protocol2_packet_handler.py	635	CODE
LOW	…ds/Dynamixel/dynamixel_sdk/protocol1_packet_handler.py	50	CODE
LOW	…ds/Dynamixel/dynamixel_sdk/protocol1_packet_handler.py	130	CODE
LOW	src/roboticstoolbox/models/catalog.py	18	CODE
LOW	src/roboticstoolbox/models/catalog.py	101	CODE
LOW	src/roboticstoolbox/models/DH/Ball.py	75	CODE
LOW	src/roboticstoolbox/models/URDF/URDFRobot.py	355	CODE
LOW	src/roboticstoolbox/robot/Link.py	776	CODE
LOW	src/roboticstoolbox/robot/Link.py	1332	CODE
LOW	src/roboticstoolbox/robot/IK.py	729	CODE
LOW	src/roboticstoolbox/robot/IK.py	474	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	90	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	228	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	985	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1232	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1309	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1358	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1412	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1483	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1831	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1915	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1990	CODE
74 more matches not shown…

Cross-Language Confusion14 hits · 68 pts

Severity	File	Line	Snippet	Context
HIGH	docs/lite/browser_check/check_lite_in_browser.py	24	pip install playwright && playwright install chromium	STRING
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	1390	self.push(plan.verify)	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	1536	while (n > 0 && fabs(coeffs[n]) <= 1e-12 * scale) --n;	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	1558	if (j != i && z[i] != z[j]) s += 1.0 / (z[i] - z[j]);	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	1585	if (!duplicate && count < IKINE_MAX_ANGLES) angles[count++] = q;	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	1611	while (n > 0 && std::fabs(coeffs[n]) <= 1e-12 * scale) --n;	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	1634	if (j != i && z[i] != z[j]) s += 1.0 / (z[i] - z[j]);	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	1658	for (double other : angles) duplicate = duplicate \|\| std::fabs(q - other) <= 1e-9;	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik.py	2138	self.put(f" solutions.push([{self.qs()}]);")	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik_rr.py	423	if (gamma == 0.0 \|\| fabs(gamma) <= 1e-15 * sqrt(alpha * beta)) continue;	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik_rr.py	448	while (j >= 0 && norms[order[j]] < norms[o]) { order[j + 1] = order[j]; --j; }	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik_rr.py	471	if (c == 0.0 \|\| r == 0.0) continue;	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik_rr.py	593	if (iterations == 10 \|\| iterations == 20) { /* break a cycle */	CODE
HIGH	src/roboticstoolbox/robot/symbolic_ik_rr.py	817	if (!(isfinite(x) && fabs(x) < 1e8 && fabs(wi[e]) < 1e-6 * (1.0 + fabs(x)))) continue;	CODE

Modern Structural Boilerplate38 hits · 41 pts

Severity	File	Line	Snippet	Context
LOW	src/roboticstoolbox/__init__.py	10	__all__ = [	CODE
LOW	src/roboticstoolbox/demo/tripleangledemo.py	56	def update_gimbals(theta: Any, ring: Any) -> None:	CODE
LOW⚡	src/roboticstoolbox/demo/tripleangledemo.py	106	def set_one(x: Any) -> None:	CODE
LOW⚡	src/roboticstoolbox/demo/tripleangledemo.py	109	def set_two(x: Any) -> None:	CODE
LOW⚡	src/roboticstoolbox/demo/tripleangledemo.py	112	def set_three(x: Any) -> None:	CODE
LOW	src/roboticstoolbox/demo/tripleangledemo.py	157	def update_all_sliders() -> None:	CODE
LOW	src/roboticstoolbox/demo/twistdemo.py	49	def update_twist_param(value: Any, key: Any) -> None:	CODE
LOW	src/roboticstoolbox/demo/twistdemo.py	56	def update_twist() -> None:	CODE
LOW⚡	src/roboticstoolbox/demo/twistdemo.py	81	def update_plane(*args: Any) -> None:	CODE
LOW⚡	src/roboticstoolbox/demo/twistdemo.py	86	def update_screw_axis(axis: Any, point: Any) -> None:	CODE
LOW⚡	src/roboticstoolbox/demo/twistdemo.py	89	def update_all_sliders() -> None:	CODE
LOW	src/roboticstoolbox/tools/plot.py	68	def set_plane_view(ax: Any, plane: str) -> None:	CODE
LOW	src/roboticstoolbox/tools/__init__.py	28	__all__ = [	CODE
LOW	src/roboticstoolbox/tools/trchain.py	235	__all__ = ["TrChainToken", "trchain", "trchain2"]	CODE
LOW	src/roboticstoolbox/tools/urdf/__init__.py	25	__all__ = [	CODE
LOW	src/roboticstoolbox/backends/ROS/__init__.py	3	__all__ = ["ROS"]	CODE
LOW	src/roboticstoolbox/backends/PyPlot/__init__.py	4	__all__ = ["PyPlot", "PyPlot2"]	CODE
LOW	src/roboticstoolbox/backends/PyPlot/PyPlot2.py	347	def _update_robots(self) -> None:	CODE
LOW	src/roboticstoolbox/backends/PyPlot/PyPlot.py	628	def _set_axes_equal(self) -> None:	CODE
LOW	src/roboticstoolbox/backends/swift/__init__.py	70	def update_pose_labels(qv: Any) -> None:	CODE
LOW	src/roboticstoolbox/backends/swift/__init__.py	160	__all__ = [	CODE
LOW	src/roboticstoolbox/models/__init__.py	7	__all__ = ["catalog", "list", "ETS", "DH"]	CODE
LOW	src/roboticstoolbox/models/DH/__init__.py	27	__all__ = [	CODE
LOW	src/roboticstoolbox/models/URDF/__init__.py	26	__all__ = [	CODE
LOW	src/roboticstoolbox/models/ETS/__init__.py	12	__all__ = [	CODE
LOW	src/roboticstoolbox/robot/Link.py	689	def _update_hasdynamics(self) -> None:	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	893	def set_default_backend(cls, be: Any) -> None:	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	1967	def _update_link_tf(self, q: ArrayLike \| None = None) -> None:	STRING
LOW	src/roboticstoolbox/robot/__init__.py	21	__all__ = [	CODE
LOW	src/roboticstoolbox/robot/DHRobot.py	256	def _set_link_fk(self, q: Any) -> None:	CODE
LOW	src/roboticstoolbox/robot/Gripper.py	226	def _update_link_tf(self, q: ArrayLike \| None = None) -> None:	CODE
LOW	src/roboticstoolbox/robot/PoERobot.py	286	def _update_ets(self) -> None:	CODE
LOW	src/roboticstoolbox/mobile/__init__.py	40	__all__ = [	CODE
LOW⚡	src/roboticstoolbox/ets/ET.py	439	__all__ = ["ET", "Rx", "Ry", "Rz", "tx", "ty", "tz", "SE3"]	CODE
LOW	src/roboticstoolbox/ets/__init__.py	6	__all__ = [	CODE
LOW⚡	src/roboticstoolbox/ets/ET2.py	180	__all__ = ["ET2", "R", "tx", "ty", "SE2"]	CODE
LOW	…-data/rtbdata/armer_xarm/armer_xarm/models/__init__.py	9	__all__ = ["xArm_6"]	CODE
LOW	…-data/rtbdata/armer_xarm/armer_xarm/robots/__init__.py	10	__all__ = ["xArmROSRobot"]	CODE

AI Structural Patterns41 hits · 40 pts

Severity	File	Line	Context
LOW	src/roboticstoolbox/blocks/mobile.py	374	CODE
LOW	src/roboticstoolbox/tools/plot.py	111	CODE
LOW	src/roboticstoolbox/tools/urdf/urdf.py	1497	CODE
LOW	src/roboticstoolbox/backends/PyPlot/RobotPlot.py	19	CODE
LOW	src/roboticstoolbox/backends/PyPlot/PyPlot.py	407	CODE
LOW	src/roboticstoolbox/robot/Link.py	161	CODE
LOW	src/roboticstoolbox/robot/DHLink.py	122	CODE
LOW	src/roboticstoolbox/robot/IK.py	323	CODE
LOW	src/roboticstoolbox/robot/IK.py	953	CODE
LOW	src/roboticstoolbox/robot/IK.py	1119	CODE
LOW	src/roboticstoolbox/robot/IK.py	1353	CODE
LOW	src/roboticstoolbox/robot/IK.py	1533	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	90	CODE
LOW	src/roboticstoolbox/robot/BaseRobot.py	2040	CODE
LOW	src/roboticstoolbox/robot/RobotPlottingMPL.py	238	CODE
LOW	src/roboticstoolbox/robot/RobotPlottingMPL.py	302	CODE
LOW	src/roboticstoolbox/robot/RobotKinematics.py	561	CODE
LOW	src/roboticstoolbox/robot/RobotKinematics.py	727	CODE
LOW	src/roboticstoolbox/robot/RobotKinematics.py	855	CODE
LOW	src/roboticstoolbox/robot/RobotKinematics.py	998	CODE
LOW	src/roboticstoolbox/robot/RobotKinematics.py	1198	CODE
LOW	src/roboticstoolbox/robot/RobotKinematics.py	1343	CODE
LOW	src/roboticstoolbox/robot/RobotKinematics.py	1503	CODE
LOW	src/roboticstoolbox/robot/Robot.py	101	CODE
LOW	src/roboticstoolbox/robot/Robot.py	1755	CODE
LOW	src/roboticstoolbox/mobile/PlannerBase.py	203	CODE
LOW	src/roboticstoolbox/mobile/PlannerBase.py	639	CODE
LOW	src/roboticstoolbox/mobile/PlannerBase.py	1054	CODE
LOW	src/roboticstoolbox/mobile/OccGrid.py	330	CODE
LOW	src/roboticstoolbox/mobile/Vehicle.py	147	CODE
LOW	src/roboticstoolbox/mobile/EKF.py	47	CODE
LOW	src/roboticstoolbox/mobile/QuinticPolyPlanner.py	279	CODE
LOW	src/roboticstoolbox/ets/_ET.py	157	CODE
LOW	src/roboticstoolbox/ets/ETS2.py	506	CODE
LOW	src/roboticstoolbox/ets/ETS.py	1182	CODE
LOW	src/roboticstoolbox/ets/ETS.py	1338	CODE
LOW	src/roboticstoolbox/ets/ETS.py	1449	CODE
LOW	src/roboticstoolbox/ets/ETS.py	1575	CODE
LOW	src/roboticstoolbox/ets/ETS.py	1750	CODE
LOW	src/roboticstoolbox/ets/ETS.py	1868	CODE
LOW	src/roboticstoolbox/ets/ETS.py	2001	CODE

Excessive Try-Catch Wrapping21 hits · 25 pts

Severity	File	Line	Snippet	Context
LOW⚡	tests/test_render_mode.py	75	except Exception:	CODE
LOW⚡	tests/test_render_mode.py	100	except Exception:	CODE
LOW⚡	tests/test_swift_plot_options.py	168	except Exception:	CODE
LOW	tests/test_models.py	193	except Exception as e:	CODE
LOW	examples/_cpu_info.py	27	except Exception:	CODE
LOW	examples/_cpu_info.py	36	except Exception:	CODE
LOW	examples/_cpu_info.py	56	except Exception:	CODE
LOW	src/roboticstoolbox/tools/DHFactor.py	82	except Exception:	CODE
LOW	src/roboticstoolbox/backends/Dynamixel/dyndata.py	18	except Exception:	CODE
LOW	src/roboticstoolbox/backends/Dynamixel/dyndata.py	32	except Exception:	CODE
MEDIUM	src/roboticstoolbox/backends/Dynamixel/dyndata.py	11	def table1_element(tables, name):	CODE
MEDIUM	src/roboticstoolbox/backends/Dynamixel/dyndata.py	23	def table2_element(tables, name, col=2):	CODE
LOW	src/roboticstoolbox/models/catalog.py	128	except Exception:	CODE
LOW	src/roboticstoolbox/models/catalog.py	133	except Exception: # pragma nocover	CODE
LOW	src/roboticstoolbox/models/URDF/URDFRobot.py	212	except Exception: # pragma nocover	CODE
LOW	src/roboticstoolbox/robot/Link.py	108	except Exception:	CODE
LOW⚡	src/roboticstoolbox/robot/RobotPlottingMPL.py	186	except Exception:	CODE
LOW	src/roboticstoolbox/mobile/Vehicle.py	56	except Exception:	CODE
LOW	src/roboticstoolbox/mobile/Vehicle.py	76	except Exception:	CODE
LOW	src/roboticstoolbox/mobile/Vehicle.py	84	except Exception:	CODE
LOW	src/roboticstoolbox/mobile/Vehicle.py	100	except Exception:	CODE

AI Slop Vocabulary8 hits · 22 pts

Severity	File	Line	Snippet	Context
LOW	src/roboticstoolbox/robot/Robot.py	2272	# Should just set it to None	COMMENT
MEDIUM	…ets/cpp-extensions/Eigen/src/Core/ConditionEstimator.h	128	// added to make the algorithm more robust in certain corner cases where	COMMENT
MEDIUM	…ts/cpp-extensions/Eigen/src/Core/arch/SSE/PacketMath.h	123	// to leverage AVX instructions.	COMMENT
MEDIUM	…x/ets/cpp-extensions/Eigen/src/Core/arch/SSE/Complex.h	26	// to leverage AVX instructions.	COMMENT
MEDIUM	…x/ets/cpp-extensions/Eigen/src/Core/arch/SSE/Complex.h	194	// to leverage AVX instructions.	COMMENT
MEDIUM	…ts/cpp-extensions/Eigen/src/Core/arch/AVX/PacketMath.h	56	// to leverage AVX512 instructions.	COMMENT
MEDIUM	…ts/cpp-extensions/Eigen/src/Core/arch/AVX/PacketMath.h	638	// NOTE: leverage _mm256_i32gather_ps and _mm256_i32gather_pd if AVX2 instructions are available	COMMENT
MEDIUM	…lbox/ets/cpp-extensions/Eigen/src/Geometry/AngleAxis.h	200	// let's use the robust Quaternion implementation:	COMMENT

AI Response Leakage2 hits · 15 pts

Severity	File	Line	Snippet	Context
HIGH	…ts/cpp-extensions/Eigen/src/Core/arch/SSE/PacketMath.h	547	// In this implementation, we take advantage of the fact that pmin/pmax for SSE	COMMENT
HIGH	…ts/cpp-extensions/Eigen/src/Core/arch/SSE/PacketMath.h	556	// In this implementation, we take advantage of the fact that pmin/pmax for SSE	COMMENT

Slop Phrases2 hits · 6 pts

Severity	File	Line	Snippet	Context
MEDIUM	…ets/cpp-extensions/Eigen/src/Core/util/SymbolicIndex.h	19	* Here is a simple example:	COMMENT
MEDIUM	…extensions/Eigen/src/Core/arch/AltiVec/MatrixProduct.h	114	* As mentioned earlier MatrixProduct breaks complex numbers into a real vector and a complex vector so packing has	COMMENT

Redundant / Tautological Comments6 hits · 6 pts

Severity	File	Line	Snippet	Context
LOW	src/roboticstoolbox/backends/PyPlot/PyPlot.py	838	# Check if running in Pyodide/JupyterLite	COMMENT
LOW	src/roboticstoolbox/robot/IK.py	506	# Check if we have violated joint limits	STRING
LOW	src/roboticstoolbox/robot/BaseRobot.py	1461	# Check if end corresponds to gripper	STRING
LOW	src/roboticstoolbox/ets/_ET.py	260	# Check if symbolic	STRING
LOW	src/roboticstoolbox/ets/ETS2.py	87	# Check if jindices are set	COMMENT
LOW	src/roboticstoolbox/ets/ETS.py	104	# Check if jindices are set	COMMENT

petercorke/robotics-toolbox-python

Open-Source Code Quality, Security and Technical Debt Review