string normalize everything now

Author: gonzalocasas

src/compas_fab/__init__.py

@@ -57,12 +57,12 @@
 from .__version__ import __version__
 
 HERE = compas._os.realpath(os.path.dirname(__file__))
-HOME = os.path.abspath(os.path.join(HERE, '../..'))
-DATA = os.path.abspath(os.path.join(HERE, 'data'))
+HOME = os.path.abspath(os.path.join(HERE, "../.."))
+DATA = os.path.abspath(os.path.join(HERE, "data"))
 
 
 def _find_resource(filename):
-    filename = filename.strip('/')
+    filename = filename.strip("/")
     return os.path.abspath(os.path.join(DATA, filename))
 
 
@@ -73,40 +73,40 @@ def get(filename):
 # Check if COMPAS is installed from git
 # If that's the case, try to append the current head's hash to __version__
 try:
-    git_head_file = os.path.abspath(os.path.join(HOME, '.git', 'HEAD'))
+    git_head_file = os.path.abspath(os.path.join(HOME, ".git", "HEAD"))
 
     if os.path.exists(git_head_file):
         # git head file contains one line that looks like this:
         # ref: refs/heads/main
-        with open(git_head_file, 'r') as git_head:
-            _, ref_path = git_head.read().strip().split(' ')
-            ref_path = ref_path.split('/')
+        with open(git_head_file, "r") as git_head:
+            _, ref_path = git_head.read().strip().split(" ")
+            ref_path = ref_path.split("/")
 
-            git_head_refs_file = os.path.abspath(os.path.join(HOME, '.git', *ref_path))
+            git_head_refs_file = os.path.abspath(os.path.join(HOME, ".git", *ref_path))
 
         if os.path.exists(git_head_refs_file):
-            with open(git_head_refs_file, 'r') as git_head_ref:
+            with open(git_head_refs_file, "r") as git_head_ref:
                 git_commit = git_head_ref.read().strip()
-                __version__ += '-' + git_commit[:8]
+                __version__ += "-" + git_commit[:8]
 except Exception:
     pass
 
 
 __all_plugins__ = [
-    'compas_fab.rhino.install',
-    'compas_fab.rhino.artists',
-    'compas_fab.ghpython.artists',
-    'compas_fab.blender.artists',
+    "compas_fab.rhino.install",
+    "compas_fab.rhino.artists",
+    "compas_fab.ghpython.artists",
+    "compas_fab.blender.artists",
 ]
 
 __all__ = [
-    '__author__',
-    '__author_email__',
-    '__copyright__',
-    '__description__',
-    '__license__',
-    '__title__',
-    '__url__',
-    '__version__',
-    'get',
+    "__author__",
+    "__author_email__",
+    "__copyright__",
+    "__description__",
+    "__license__",
+    "__title__",
+    "__url__",
+    "__version__",
+    "get",
 ]

src/compas_fab/__main__.py

@@ -6,10 +6,10 @@
 
 import compas_fab
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     print()
-    print('Yay! COMPAS FAB is installed correctly!')
+    print("Yay! COMPAS FAB is installed correctly!")
     print()
-    print('COMPAS FAB: {}'.format(compas_fab.__version__))
-    print('COMPAS: {}'.format(compas.__version__))
-    print('Python: {} ({})'.format(platform.python_version(), platform.python_implementation()))
+    print("COMPAS FAB: {}".format(compas_fab.__version__))
+    print("COMPAS: {}".format(compas.__version__))
+    print("Python: {} ({})".format(platform.python_version(), platform.python_implementation()))

src/compas_fab/__version__.py

@@ -1,8 +1,8 @@
-__title__ = 'compas_fab'
-__description__ = 'Robotic fabrication package for the COMPAS Framework'
-__url__ = 'https://github.com/compas-dev/compas_fab'
-__version__ = '0.26.0'
-__author__ = 'Gramazio Kohler Research'
-__author_email__ = '[email protected]'
-__license__ = 'MIT license'
-__copyright__ = 'Copyright 2018 Gramazio Kohler Research'
+__title__ = "compas_fab"
+__description__ = "Robotic fabrication package for the COMPAS Framework"
+__url__ = "https://github.com/compas-dev/compas_fab"
+__version__ = "0.26.0"
+__author__ = "Gramazio Kohler Research"
+__author_email__ = "[email protected]"
+__license__ = "MIT license"
+__copyright__ = "Copyright 2018 Gramazio Kohler Research"

src/compas_fab/backends/__init__.py

@@ -177,43 +177,43 @@
 
 __all__ = [
     # Base
-    'BackendError',
-    'KinematicsError',
-    'InverseKinematicsError',
-    'FutureResult',
-    'CancellableFutureResult',
+    "BackendError",
+    "KinematicsError",
+    "InverseKinematicsError",
+    "FutureResult",
+    "CancellableFutureResult",
     # ROS
-    'RosClient',
-    'RosError',
-    'RosValidationError',
-    'RosFileServerLoader',
-    'MoveItPlanner',
+    "RosClient",
+    "RosError",
+    "RosValidationError",
+    "RosFileServerLoader",
+    "MoveItPlanner",
     # VREP
-    'VrepClient',
-    'VrepError',
-    'VrepPlanner',
+    "VrepClient",
+    "VrepError",
+    "VrepPlanner",
     # Analytic IK
-    'AnalyticalInverseKinematics',
-    'AnalyticalPlanCartesianMotion',
-    'OffsetWristKinematics',
-    'SphericalWristKinematics',
-    'CartesianMotionError',
+    "AnalyticalInverseKinematics",
+    "AnalyticalPlanCartesianMotion",
+    "OffsetWristKinematics",
+    "SphericalWristKinematics",
+    "CartesianMotionError",
     # Robot-specific analytic IK
-    'UR3Kinematics',
-    'UR3eKinematics',
-    'UR5Kinematics',
-    'UR5eKinematics',
-    'UR10Kinematics',
-    'UR10eKinematics',
-    'Staubli_TX260LKinematics',
-    'ABB_IRB4600_40_255Kinematics',
+    "UR3Kinematics",
+    "UR3eKinematics",
+    "UR5Kinematics",
+    "UR5eKinematics",
+    "UR10Kinematics",
+    "UR10eKinematics",
+    "Staubli_TX260LKinematics",
+    "ABB_IRB4600_40_255Kinematics",
 ]
 
 if not compas.IPY:
     __all__ += [
-        'PyBulletClient',
-        'CollisionError',
-        'PyBulletError',
-        'PyBulletPlanner',
-        'AnalyticalPyBulletClient',
+        "PyBulletClient",
+        "CollisionError",
+        "PyBulletError",
+        "PyBulletPlanner",
+        "AnalyticalPyBulletClient",
     ]

src/compas_fab/backends/exceptions.py

@@ -3,9 +3,9 @@
 from __future__ import print_function
 
 __all__ = [
-    'BackendError',
-    'KinematicsError',
-    'InverseKinematicsError',
+    "BackendError",
+    "KinematicsError",
+    "InverseKinematicsError",
 ]
 
 

src/compas_fab/backends/interfaces/__init__.py

@@ -58,17 +58,17 @@
 from .client import PlannerInterface
 
 __all__ = [
-    'ForwardKinematics',
-    'InverseKinematics',
-    'PlanMotion',
-    'PlanCartesianMotion',
-    'GetPlanningScene',
-    'AddCollisionMesh',
-    'AppendCollisionMesh',
-    'RemoveCollisionMesh',
-    'AddAttachedCollisionMesh',
-    'RemoveAttachedCollisionMesh',
-    'ResetPlanningScene',
-    'ClientInterface',
-    'PlannerInterface',
+    "ForwardKinematics",
+    "InverseKinematics",
+    "PlanMotion",
+    "PlanCartesianMotion",
+    "GetPlanningScene",
+    "AddCollisionMesh",
+    "AppendCollisionMesh",
+    "RemoveCollisionMesh",
+    "AddAttachedCollisionMesh",
+    "RemoveAttachedCollisionMesh",
+    "ResetPlanningScene",
+    "ClientInterface",
+    "PlannerInterface",
 ]

src/compas_fab/backends/interfaces/client.py

@@ -120,7 +120,7 @@ def inverse_kinematics(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def forward_kinematics(self, *args, **kwargs):
         """Default method for planner.
@@ -130,7 +130,7 @@ def forward_kinematics(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def plan_motion(self, *args, **kwargs):
         """Default method for planner.
@@ -140,7 +140,7 @@ def plan_motion(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def plan_cartesian_motion(self, *args, **kwargs):
         """Default method for planner.
@@ -150,7 +150,7 @@ def plan_cartesian_motion(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     # ==========================================================================
     # collision objects and planning scene
@@ -164,7 +164,7 @@ def get_planning_scene(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def reset_planning_scene(self, *args, **kwargs):
         """Default method for planner.
@@ -174,7 +174,7 @@ def reset_planning_scene(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def add_collision_mesh(self, *args, **kwargs):
         """Default method for planner.
@@ -184,7 +184,7 @@ def add_collision_mesh(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def remove_collision_mesh(self, *args, **kwargs):
         """Default method for planner.
@@ -194,7 +194,7 @@ def remove_collision_mesh(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def append_collision_mesh(self, *args, **kwargs):
         """Default method for planner.
@@ -204,7 +204,7 @@ def append_collision_mesh(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def add_attached_collision_mesh(self, *args, **kwargs):
         """Default method for planner.
@@ -214,7 +214,7 @@ def add_attached_collision_mesh(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")
 
     def remove_attached_collision_mesh(self, *args, **kwargs):
         """Default method for planner.
@@ -224,4 +224,4 @@ def remove_attached_collision_mesh(self, *args, **kwargs):
         Exception
             Planner does not have this feature.
         """
-        raise Exception('Assigned planner does not have this feature.')
+        raise Exception("Assigned planner does not have this feature.")

src/compas_fab/backends/kinematics/__init__.py

@@ -20,19 +20,19 @@
 
 __all__ = [
     # exceptions
-    'CartesianMotionError',
+    "CartesianMotionError",
     # clients / backend features
-    'AnalyticalInverseKinematics',
-    'AnalyticalPlanCartesianMotion',
+    "AnalyticalInverseKinematics",
+    "AnalyticalPlanCartesianMotion",
     # solvers
-    'OffsetWristKinematics',
-    'SphericalWristKinematics',
-    'UR3Kinematics',
-    'UR3eKinematics',
-    'UR5Kinematics',
-    'UR5eKinematics',
-    'UR10Kinematics',
-    'UR10eKinematics',
-    'Staubli_TX260LKinematics',
-    'ABB_IRB4600_40_255Kinematics',
+    "OffsetWristKinematics",
+    "SphericalWristKinematics",
+    "UR3Kinematics",
+    "UR3eKinematics",
+    "UR5Kinematics",
+    "UR5eKinematics",
+    "UR10Kinematics",
+    "UR10eKinematics",
+    "Staubli_TX260LKinematics",
+    "ABB_IRB4600_40_255Kinematics",
 ]

src/compas_fab/backends/kinematics/analytical_inverse_kinematics.py

@@ -78,7 +78,7 @@ def inverse_kinematics(self, robot, frame_WCF, start_configuration=None, group=N
         """
 
         options = options or {}
-        solver = options.get('solver')
+        solver = options.get("solver")
         if solver:
             self.planner = PLANNER_BACKENDS[solver]()
         elif not self.planner:  # no solver, no planner
@@ -99,11 +99,11 @@ def inverse_kinematics(self, robot, frame_WCF, start_configuration=None, group=N
 
         # check collisions for all configurations (>> sets those to `None` that are not working)
         if options.get("check_collision", False) is True:
-            acms = options.get('attached_collision_meshes', [])
+            acms = options.get("attached_collision_meshes", [])
             for acm in acms:
                 cached_robot_model = self.client.get_cached_robot(robot)
                 if not cached_robot_model.get_link_by_name(acm.collision_mesh.id):
-                    self.client.add_attached_collision_mesh(acm, options={'robot': robot})
+                    self.client.add_attached_collision_mesh(acm, options={"robot": robot})
                     for touch_link in acm.touch_links:
                         self.client.disabled_collisions.add((touch_link, acm.collision_mesh.id))
             for i, config in enumerate(configurations):