Clean up long lines

Author: gonzalocasas

src/compas_fab/backends/vrep/client.py

@@ -1,18 +1,15 @@
 from __future__ import print_function
 
 import logging
-import math
 import socket
 from timeit import default_timer as timer
 
-from compas.datastructures import Mesh
 from compas.geometry import Frame
 from compas.geometry import matrix_from_frame
 
 from compas_fab.backends.exceptions import BackendError
 from compas_fab.backends.vrep.remote_api import vrep
 from compas_fab.robots import Configuration
-from compas_fab.robots import Robot
 
 DEFAULT_SCALE = 1.
 DEFAULT_OP_MODE = vrep.simx_opmode_blocking
@@ -61,9 +58,9 @@ class VrepClient(object):
         For more examples, check out the :ref:`V-REP examples page <examples_vrep>`.
     """
     SUPPORTED_PLANNERS = ('bitrrt', 'bkpiece1', 'est', 'kpiece1',
-                           'lazyprmstar', 'lbkpiece1', 'lbtrrt', 'pdst',
-                           'prm', 'prrt', 'rrt', 'rrtconnect', 'rrtstar',
-                           'sbl', 'stride', 'trrt')
+                          'lazyprmstar', 'lbkpiece1', 'lbtrrt', 'pdst',
+                          'prm', 'prrt', 'rrt', 'rrtconnect', 'rrtstar',
+                          'sbl', 'stride', 'trrt')
 
     def __init__(self, host='127.0.0.1', port=19997, scale=DEFAULT_SCALE, lua_script='RFL', debug=False):
         super(VrepClient, self).__init__()
@@ -176,7 +173,7 @@ def set_robot_metric(self, robot, metric_values):
         effectively removes one degree of freedom (DOF).
 
         Args:
-            robot (:class:`Robot`): Robot instance.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance.
             metric_values (:obj:`list` of :obj:`float`): List containing one value
                 per configurable joint. Each value ranges from 0 to 1.
         """
@@ -192,7 +189,7 @@ def set_robot_pose(self, robot, frame):
         """Moves the robot to a given pose, specified as a frame.
 
         Args:
-            robot (:class:`Robot`): Robot instance to move.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance to move.
             frame (:class:`Frame`): Target or goal frame.
 
         Returns:
@@ -215,7 +212,7 @@ def set_robot_config(self, robot, config):
         """Moves the robot to the specified configuration.
 
         Args:
-            robot (:class:`Robot`): Robot instance to move.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance to move.
             config (:class:`Configuration` instance): Describes the position of the
                 robot as an instance of :class:`Configuration`.
 
@@ -243,7 +240,7 @@ def get_robot_config(self, robot):
         """Gets the current configuration of the specified robot.
 
         Args:
-            robot (:class:`Robot`): Robot instance.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance.
 
         Examples:
 
@@ -265,7 +262,7 @@ def forward_kinematics(self, robot):
         """Calculates forward kinematics to get the current end-effector pose.
 
         Args:
-            robot (:class:`Robot`): Robot instance.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance.
 
         Examples:
 
@@ -279,15 +276,15 @@ def forward_kinematics(self, robot):
         assert_robot(robot)
 
         _res, _, pose, _, _ = self.run_child_script('getIkTipPose',
-                                                     [robot.model.attr['index']],
-                                                     [], [])
+                                                    [robot.model.attr['index']],
+                                                    [], [])
         return vrep_pose_to_frame(pose, self.scale)
 
     def inverse_kinematics(self, robot, goal_frame, metric_values=None, gantry_joint_limits=None, arm_joint_limits=None, max_trials=None, max_results=1):
         """Calculates inverse kinematics to find valid robot configurations for the specified goal frame.
 
         Args:
-            robot (:class:`Robot`): Robot instance.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance.
             goal_frame (:class:`Frame`): Target or goal frame.
             metric_values (:obj:`list` of :obj:`float`): List containing one value
                 per configurable joint. Each value ranges from 0 to 1,
@@ -357,7 +354,7 @@ def pick_building_member(self, robot, building_member_mesh, pickup_frame, metric
         """Picks up a building member and attaches it to the robot.
 
         Args:
-            robot (:class:`Robot`): Robot instance to use for pick up.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance to use for pick up.
             building_member_mesh (:class:`compas.datastructures.Mesh`): Mesh
                 of the building member that will be attached to the robot.
             pickup_pose (:class:`Frame`): Pickup frame.
@@ -455,7 +452,7 @@ def plan_motion_to_config(self, robot, goal_configs, metric_values=None, collisi
         specific goal configuration.
 
         Args:
-            robot (:class:`Robot`): Robot instance to move.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance to move.
             goal_configs (:obj:`list` of :class:`Configuration`): List of target or goal configurations.
             metric_values (:obj:`list` of :obj:`float`): List containing one value
                 per configurable joint. Each value ranges from 0 to 1,
@@ -493,7 +490,7 @@ def plan_motion(self, robot, goal_frame, metric_values=None, collision_meshes=No
         """Find a path plan to move the selected robot from its current position to the `goal_frame`.
 
         Args:
-            robot (:class:`Robot`): Robot instance to move.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance to move.
             goal_frame (:class:`Frame`): Target or goal frame.
             metric_values (:obj:`list` of :obj:`float`): List containing one value
                 per configurable joint. Each value ranges from 0 to 1,
@@ -529,7 +526,7 @@ def add_building_member(self, robot, building_member_mesh):
         """Adds a building member to the 3D scene and attaches it to the robot.
 
         Args:
-            robot (:class:`Robot`): Robot instance to attach the building member to.
+            robot (:class:`compas_fab.robots.Robot`): Robot instance to attach the building member to.
             building_member_mesh (:class:`compas.datastructures.Mesh`): Mesh
                 of the building member that will be attached to the robot.
 

src/compas_fab/blender/artists.py

@@ -2,9 +2,6 @@
 from __future__ import division
 from __future__ import print_function
 
-import time
-
-import compas
 from compas_blender import draw_mesh
 
 from compas_fab.artists import BaseRobotArtist

src/compas_fab/rhino/artists.py

@@ -6,7 +6,6 @@
 
 import compas
 from compas.utilities import rgb_to_rgb
-import compas_rhino
 
 from compas_fab.artists import BaseRobotArtist
 
@@ -29,7 +28,7 @@ class RobotArtist(BaseRobotArtist):
     """Visualizer for robots inside a Rhino environment."""
 
     # TODO: Add layer (e.g. __init__(self, robot, layer=None))
-    def __init__(self, robot): #, layer=None):
+    def __init__(self, robot):
         super(RobotArtist, self).__init__(robot)
 
     def transform(self, native_mesh, transformation):
@@ -89,16 +88,6 @@ def redraw(self, timeout=None):
         rs.EnableRedraw(True)
         rs.Redraw()
 
-    # def clear_layer(self):
-    #     """Clear the main layer of the artist."""
-    #     if self.layer:
-    #         compas_rhino.clear_layer(self.layer)
-    #     else:
-    #         compas_rhino.clear_current_layer()
-
-    # def clear(self):
-    #     """Clear the robot."""
-    #     self.clear_robot()
 
 # TODO: Move to compas_rhino.geometry
 def xform_from_transformation(transformation):

src/compas_fab/robots/robot.py

@@ -792,7 +792,8 @@ def constraints_from_frame(self, frame_WCF, tolerance_position, tolerances_axes,
         >>> tolerances_axes = [math.radians(1)]
         >>> group = robot.main_group_name
         >>> robot.constraints_from_frame(frame, tolerance_position, tolerances_axes, group)
-        [PositionConstraint('ee_link', BoundingVolume(2, Sphere(Point(0.400, 0.300, 0.400), 0.001)), 1.0), OrientationConstraint('ee_link', [0.5, 0.5, 0.5, 0.5], [0.017453292519943295, 0.017453292519943295, 0.017453292519943295], 1.0)]
+        [PositionConstraint('ee_link', BoundingVolume(2, Sphere(Point(0.400, 0.300, 0.400), 0.001)), 1.0), \
+        OrientationConstraint('ee_link', [0.5, 0.5, 0.5, 0.5], [0.017453292519943295, 0.017453292519943295, 0.017453292519943295], 1.0)]
 
         Notes
         -----
@@ -826,7 +827,12 @@ def constraints_from_configuration(self, configuration, tolerances, group=None):
         >>> tolerances = [math.radians(5)] * 6
         >>> group = robot.main_group_name
         >>> robot.constraints_from_configuration(configuration, tolerances, group)
-        [JointConstraint('shoulder_pan_joint', -0.042, 0.08726646259971647, 1.0), JointConstraint('shoulder_lift_joint', 4.295, 0.08726646259971647, 1.0), JointConstraint('elbow_joint', -4.11, 0.08726646259971647, 1.0), JointConstraint('wrist_1_joint', -3.327, 0.08726646259971647, 1.0), JointConstraint('wrist_2_joint', 4.755, 0.08726646259971647, 1.0), JointConstraint('wrist_3_joint', 0.0, 0.08726646259971647, 1.0)]
+        [JointConstraint('shoulder_pan_joint', -0.042, 0.08726646259971647, 1.0), \
+        JointConstraint('shoulder_lift_joint', 4.295, 0.08726646259971647, 1.0), \
+        JointConstraint('elbow_joint', -4.11, 0.08726646259971647, 1.0), \
+        JointConstraint('wrist_1_joint', -3.327, 0.08726646259971647, 1.0), \
+        JointConstraint('wrist_2_joint', 4.755, 0.08726646259971647, 1.0), \
+        JointConstraint('wrist_3_joint', 0.0, 0.08726646259971647, 1.0)]
 
         Raises
         ------

src/compas_fab/utilities/filesystem.py

@@ -39,6 +39,7 @@ def list_files_in_directory(directory, fullpath=False, extensions=[]):
 
 if __name__ == "__main__":
 
-    path = os.path.join(os.path.dirname(__file__), "..", "robots", "ur", "ur10", "model")
+    path = os.path.join(os.path.dirname(__file__), "..",
+                        "robots", "ur", "ur10", "model")
     os.listdir(path)
     print(list_files_in_directory(path, fullpath=True, extensions=["obj"]))