needs skip on every line

Author: chenkasirer

src/compas_fab/robots/robot.py

@@ -1584,23 +1584,23 @@ def plan_cartesian_motion(
         Examples
         --------
 
-        >>> ros = RosClient()   # doctest: +SKIP
-        >>> ros.run()
-        >>> robot = ros.load_robot()
-        >>> frames = [Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0]),\
+        >>> ros = RosClient()   # doctest: +SKIP  # doctest: +SKIP
+        >>> ros.run()  # doctest: +SKIP
+        >>> robot = ros.load_robot()  # doctest: +SKIP
+        >>> frames = [Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0]),\  # doctest: +SKIP
                       Frame([0.5, 0.1, 0.6], [1, 0, 0], [0, 1, 0])]
-        >>> start_configuration = Configuration.from_revolute_values([-0.042, 0.033, -2.174, 5.282, -1.528, 0.000])
-        >>> group = robot.main_group_name
+        >>> start_configuration = Configuration.from_revolute_values([-0.042, 0.033, -2.174, 5.282, -1.528, 0.000])  # doctest: +SKIP
+        >>> group = robot.main_group_name  # doctest: +SKIP
         >>> options = {'max_step': 0.01,\
                        'jump_threshold': 1.57,\
-                       'avoid_collisions': True}
+                       'avoid_collisions': True}  # doctest: +SKIP
         >>> trajectory = robot.plan_cartesian_motion(frames,\
                                                      start_configuration,\
                                                      group=group,\
-                                                     options=options)
-        >>> len(trajectory.points) > 1
+                                                     options=options)  # doctest: +SKIP
+        >>> len(trajectory.points) > 1  # doctest: +SKIP
         True
-        >>> ros.close()
+        >>> ros.close()  # doctest: +SKIP
         """
         options = options or {}
         max_step = options.get("max_step")
@@ -1728,40 +1728,48 @@ def plan_motion(self, goal_constraints, start_configuration=None, group=None, op
 
         Using position and orientation constraints:
 
-        >>> ros = RosClient()  # doctest: +SKIP
-        >>> ros.run()
-        >>> robot = ros.load_robot()
-        >>> frame = Frame([0.4, 0.3, 0.4], [0, 1, 0], [0, 0, 1])
-        >>> tolerance_position = 0.001
-        >>> tolerances_axes = [math.radians(1)] * 3
-        >>> start_configuration = Configuration.from_revolute_values([-0.042, 4.295, 0, -3.327, 4.755, 0.0])
-        >>> group = robot.main_group_name
-        >>> goal_constraints = robot.constraints_from_frame(frame, tolerance_position, tolerances_axes, group)
-        >>> trajectory = robot.plan_motion(goal_constraints, start_configuration, group, {"planner_id": "RRTConnect"})
-        >>> trajectory.fraction
+        >>> ros = RosClient()  # doctest: +SKIP  # doctest: +SKIP
+        >>> ros.run()  # doctest: +SKIP
+        >>> robot = ros.load_robot()  # doctest: +SKIP
+        >>> frame = Frame([0.4, 0.3, 0.4], [0, 1, 0], [0, 0, 1])  # doctest: +SKIP
+        >>> tolerance_position = 0.001  # doctest: +SKIP
+        >>> tolerances_axes = [math.radians(1)] * 3  # doctest: +SKIP
+        >>> start_configuration = Configuration.from_revolute_values(
+        ...     [-0.042, 4.295, 0, -3.327, 4.755, 0.0]
+        ... )  # doctest: +SKIP
+        >>> group = robot.main_group_name  # doctest: +SKIP
+        >>> goal_constraints = robot.constraints_from_frame(
+        ...     frame, tolerance_position, tolerances_axes, group
+        ... )  # doctest: +SKIP
+        >>> trajectory = robot.plan_motion(
+        ...     goal_constraints, start_configuration, group, {"planner_id": "RRTConnect"}
+        ... )  # doctest: +SKIP
+        >>> trajectory.fraction  # doctest: +SKIP
         1.0
-        >>> len(trajectory.points) > 1
+        >>> len(trajectory.points) > 1  # doctest: +SKIP
         True
-        >>> ros.close()
+        >>> ros.close()  # doctest: +SKIP
 
         Using joint constraints (to the UP configuration):
 
-        >>> ros = RosClient()  # doctest: +SKIP
-        >>> ros.run()
-        >>> robot = ros.load_robot()
-        >>> configuration = Configuration.from_revolute_values([0.0, -1.5707, 0.0, -1.5707, 0.0, 0.0])
-        >>> tolerances_above = [math.radians(5)] * len(configuration.joint_values)
-        >>> tolerances_below = [math.radians(5)] * len(configuration.joint_values)
-        >>> group = robot.main_group_name
+        >>> ros = RosClient()  # doctest: +SKIP  # doctest: +SKIP
+        >>> ros.run()  # doctest: +SKIP
+        >>> robot = ros.load_robot()  # doctest: +SKIP
+        >>> configuration = Configuration.from_revolute_values([0.0, -1.5707, 0.0, -1.5707, 0.0, 0.0])  # doctest: +SKIP
+        >>> tolerances_above = [math.radians(5)] * len(configuration.joint_values)  # doctest: +SKIP
+        >>> tolerances_below = [math.radians(5)] * len(configuration.joint_values)  # doctest: +SKIP
+        >>> group = robot.main_group_name  # doctest: +SKIP
         >>> goal_constraints = robot.constraints_from_configuration(
         ...     configuration, tolerances_above, tolerances_below, group
-        ... )
-        >>> trajectory = robot.plan_motion(goal_constraints, start_configuration, group, {"planner_id": "RRTConnect"})
-        >>> trajectory.fraction
+        ... )  # doctest: +SKIP
+        >>> trajectory = robot.plan_motion(
+        ...     goal_constraints, start_configuration, group, {"planner_id": "RRTConnect"}
+        ... )  # doctest: +SKIP
+        >>> trajectory.fraction  # doctest: +SKIP
         1.0
-        >>> len(trajectory.points) > 1
+        >>> len(trajectory.points) > 1  # doctest: +SKIP
         True
-        >>> ros.close()
+        >>> ros.close()  # doctest: +SKIP
         """
         options = options or {}
         path_constraints = options.get("path_constraints")