formatting

Author: chenkasirer

src/compas_fab/robots/robot.py

@@ -549,7 +549,9 @@ def get_group_configuration(self, group, full_configuration):
         :class:`Configuration`
             The configuration of the group.
         """
-        full_configuration = self._check_full_configuration_and_scale(full_configuration)[0]  # adds joint_names to full_configuration and makes copy
+        full_configuration = self._check_full_configuration_and_scale(full_configuration)[
+            0
+        ]  # adds joint_names to full_configuration and makes copy
         group_joint_names = self.get_configurable_joint_names(group)
         values = [full_configuration[name] for name in group_joint_names]
         return Configuration(values, self.get_configurable_joint_types(group), group_joint_names)
@@ -583,7 +585,9 @@ def merge_group_with_full_configuration(self, group_configuration, full_configur
         if not group_configuration.joint_names:
             group_configuration.joint_names = self.get_configurable_joint_names(group)
 
-        full_configuration = self._check_full_configuration_and_scale(full_configuration)[0]  # adds joint_names to full_configuration and makes copy
+        full_configuration = self._check_full_configuration_and_scale(full_configuration)[
+            0
+        ]  # adds joint_names to full_configuration and makes copy
 
         full_configuration = full_configuration.merged(group_configuration)
         return full_configuration
@@ -654,7 +658,11 @@ def _check_full_configuration_and_scale(self, full_configuration=None):
             joint_names = self.get_configurable_joint_names()  # full configuration
             # full_configuration might have passive joints specified as well, we allow this.
             if len(joint_names) > len(full_configuration.joint_values):
-                raise ValueError("Please pass a configuration with {} values, for all configurable joints of the robot.".format(len(joint_names)))
+                raise ValueError(
+                    "Please pass a configuration with {} values, for all configurable joints of the robot.".format(
+                        len(joint_names)
+                    )
+                )
             configuration = full_configuration.copy()
             if not configuration.joint_names:
                 configuration.joint_names = joint_names
@@ -1089,7 +1097,9 @@ def position_constraint_from_frame(self, frame_WCF, tolerance_position, group=No
         sphere = Sphere(radius=tolerance_position, point=frame_WCF.point)
         return PositionConstraint.from_sphere(ee_link, sphere)
 
-    def constraints_from_frame(self, frame_WCF, tolerance_position, tolerances_axes, group=None, use_attached_tool_frame=True):
+    def constraints_from_frame(
+        self, frame_WCF, tolerance_position, tolerances_axes, group=None, use_attached_tool_frame=True
+    ):
         r"""Create a position and an orientation constraint from a frame calculated for the group's end-effector link.
 
         Parameters
@@ -1201,18 +1211,32 @@ def constraints_from_configuration(self, configuration, tolerances_above, tolera
 
         joint_names = self.get_configurable_joint_names(group)
         if len(joint_names) != len(configuration.joint_values):
-            raise ValueError("The passed configuration has {} joint_values, the group {} needs however: {}".format(len(configuration.joint_values), group, len(joint_names)))
+            raise ValueError(
+                "The passed configuration has {} joint_values, the group {} needs however: {}".format(
+                    len(configuration.joint_values), group, len(joint_names)
+                )
+            )
         if len(tolerances_above) == 1:
             tolerances_above = tolerances_above * len(joint_names)
         elif len(tolerances_above) != len(configuration.joint_values):
-            raise ValueError("The passed configuration has {} joint_values, the tolerances_above however: {}".format(len(configuration.joint_values), len(tolerances_above)))
+            raise ValueError(
+                "The passed configuration has {} joint_values, the tolerances_above however: {}".format(
+                    len(configuration.joint_values), len(tolerances_above)
+                )
+            )
         if len(tolerances_below) == 1:
             tolerances_below = tolerances_below * len(joint_names)
         elif len(tolerances_below) != len(configuration.joint_values):
-            raise ValueError("The passed configuration has {} joint_values, the tolerances_below however: {}".format(len(configuration.joint_values), len(tolerances_below)))
+            raise ValueError(
+                "The passed configuration has {} joint_values, the tolerances_below however: {}".format(
+                    len(configuration.joint_values), len(tolerances_below)
+                )
+            )
 
         constraints = []
-        for name, value, tolerance_above, tolerance_below in zip(joint_names, configuration.joint_values, tolerances_above, tolerances_below):
+        for name, value, tolerance_above, tolerance_below in zip(
+            joint_names, configuration.joint_values, tolerances_above, tolerances_below
+        ):
             constraints.append(JointConstraint(name, value, tolerance_above, tolerance_below))
         return constraints
 
@@ -1281,14 +1305,18 @@ def inverse_kinematics(
         Configuration((4.045, 5.130, -2.174, -6.098, -5.616, 6.283), (0, 0, 0, 0, 0, 0))    # doctest: +SKIP
         """
         # Pseudo-memoized sequential calls will re-use iterator if not exhaused
-        request_id = "{}-{}-{}-{}-{}".format(str(frame_WCF), str(start_configuration), str(group), str(return_full_configuration), str(options))
+        request_id = "{}-{}-{}-{}-{}".format(
+            str(frame_WCF), str(start_configuration), str(group), str(return_full_configuration), str(options)
+        )
 
         if self._current_ik["request_id"] == request_id and self._current_ik["solutions"] is not None:
             solution = next(self._current_ik["solutions"], None)
             if solution is not None:
                 return solution
 
-        solutions = self.iter_inverse_kinematics(frame_WCF, start_configuration, group, return_full_configuration, use_attached_tool_frame, options)
+        solutions = self.iter_inverse_kinematics(
+            frame_WCF, start_configuration, group, return_full_configuration, use_attached_tool_frame, options
+        )
         self._current_ik["request_id"] = request_id
         self._current_ik["solutions"] = solutions
 
@@ -1512,7 +1540,9 @@ def forward_kinematics(self, configuration, group=None, use_attached_tool_frame=
     def forward_kinematics_deprecated(self, configuration, group=None, backend=None, ee_link=None):
         return self.forward_kinematics(configuration, group, options=dict(solver=backend, link=ee_link))
 
-    def plan_cartesian_motion(self, frames_WCF, start_configuration=None, group=None, use_attached_tool_frame=True, options=None):
+    def plan_cartesian_motion(
+        self, frames_WCF, start_configuration=None, group=None, use_attached_tool_frame=True, options=None
+    ):
         """Calculate a cartesian motion path (linear in tool space).
 
         Parameters
@@ -1723,7 +1753,9 @@ def plan_motion(self, goal_constraints, start_configuration=None, group=None, op
         >>> tolerances_above = [math.radians(5)] * len(configuration.joint_values)
         >>> tolerances_below = [math.radians(5)] * len(configuration.joint_values)
         >>> group = robot.main_group_name
-        >>> goal_constraints = robot.constraints_from_configuration(configuration, tolerances_above, tolerances_below, group)
+        >>> 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
         1.0