blacken everything but skip string normalization

Author: gonzalocasas

src/compas_fab/backends/__init__.py

@@ -153,6 +153,7 @@
     SphericalWristKinematics,
     CartesianMotionError,
 )
+
 # Robot-specific analytic IK
 from .kinematics import (
     UR3Kinematics,

src/compas_fab/backends/interfaces/client.py

@@ -7,13 +7,15 @@ def forward_docstring(backend_feature):
     def dec(obj):
         obj.__doc__ = backend_feature.__dict__[obj.__name__].__doc__
         return obj
+
     return dec
 
 
 class ClientInterface(object):
     """Interface for all backend clients.  Forwards all planning services and
     planning scene management to the planner.
     """
+
     def __init__(self):
         self.planner = PlannerInterface(self)
         # self.control = ControlInterface()
@@ -70,6 +72,7 @@ def remove_attached_collision_mesh(self, *args, **kwargs):
         """Forwards call to appropriate method in the planner."""
         return self.planner.remove_attached_collision_mesh(*args, **kwargs)
 
+
 #     # ==========================================================================
 #     # executing
 #     # ==========================================================================
@@ -100,6 +103,7 @@ class PlannerInterface(object):
     behavior for all planning services and planning scene management methods.  To be
     use in conjunction with backend feature interfaces.
     """
+
     def __init__(self, client):
         super(PlannerInterface, self).__init__()
         self.client = client

src/compas_fab/backends/kinematics/__init__.py

@@ -17,6 +17,7 @@
     Staubli_TX260LKinematics,
     ABB_IRB4600_40_255Kinematics,
 )
+
 __all__ = [
     # exceptions
     'CartesianMotionError',

src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py

@@ -8,8 +8,7 @@
 
 
 class AnalyticalPlanCartesianMotion(PlanCartesianMotion):
-    """
-    """
+    """ """
 
     def __init__(self, client=None):
         self.client = client
@@ -73,7 +72,7 @@ def plan_cartesian_motion(self, robot, frames_WCF, start_configuration=None, gro
         path = paths[idx]
         path = self.smooth_configurations(path)
         trajectory = JointTrajectory()
-        trajectory.fraction = len(path)/len(frames_RCF)
+        trajectory.fraction = len(path) / len(frames_RCF)
         trajectory.joint_names = path[0].joint_names
         trajectory.points = [JointTrajectoryPoint(config.joint_values, config.joint_types) for config in path]
         trajectory.start_configuration = robot.merge_group_with_full_configuration(path[0], start_configuration, group)
@@ -88,7 +87,7 @@ def smooth_configurations(self, configurations):
             curr = configurations[i].joint_values
             corrected = []
             for p, c in zip(prev, curr):
-                c1 = c/abs(c) * (abs(c) % (2 * math.pi))
+                c1 = c / abs(c) * (abs(c) % (2 * math.pi))
                 c2 = c1 - 2 * math.pi
                 c3 = c1 + 2 * math.pi
                 values = [c1, c2, c3]

src/compas_fab/backends/kinematics/solvers/offset_wrist.py

@@ -40,34 +40,15 @@ def forward_kinematics_offset_wrist(joint_values, params):
     T[0] = c234 * c1 * s5 - c5 * s1
     T[1] = c6 * (s1 * s5 + c234 * c1 * c5) - s234 * c1 * s6
     T[2] = -s6 * (s1 * s5 + c234 * c1 * c5) - s234 * c1 * c6
-    T[3] = (
-        d6 * c234 * c1 * s5
-        - a3 * c23 * c1
-        - a2 * c1 * c2
-        - d6 * c5 * s1
-        - d5 * s234 * c1
-        - d4 * s1
-    )
+    T[3] = d6 * c234 * c1 * s5 - a3 * c23 * c1 - a2 * c1 * c2 - d6 * c5 * s1 - d5 * s234 * c1 - d4 * s1
     T[4] = c1 * c5 + c234 * s1 * s5
     T[5] = -c6 * (c1 * s5 - c234 * c5 * s1) - s234 * s1 * s6
     T[6] = s6 * (c1 * s5 - c234 * c5 * s1) - s234 * c6 * s1
-    T[7] = (
-        d6 * (c1 * c5 + c234 * s1 * s5)
-        + d4 * c1
-        - a3 * c23 * s1
-        - a2 * c2 * s1
-        - d5 * s234 * s1
-    )
+    T[7] = d6 * (c1 * c5 + c234 * s1 * s5) + d4 * c1 - a3 * c23 * s1 - a2 * c2 * s1 - d5 * s234 * s1
     T[8] = -s234 * s5
     T[9] = -c234 * s6 - s234 * c5 * c6
     T[10] = s234 * c5 * s6 - c234 * c6
-    T[11] = (
-        d1
-        + a3 * s23
-        + a2 * s2
-        - d5 * (c23 * c4 - s23 * s4)
-        - d6 * s5 * (c23 * s4 + s23 * c4)
-    )
+    T[11] = d1 + a3 * s23 + a2 * s2 - d5 * (c23 * c4 - s23 * s4) - d6 * s5 * (c23 * s4 + s23 * c4)
     T[15] = 1.0
 
     frame = Frame((T[3], T[7], T[11]), (T[0], T[4], T[8]), (T[1], T[5], T[9]))
@@ -186,9 +167,7 @@ def inverse_kinematics_offset_wrist(frame, params, q6_des=0.0):
             if fabs(s5) < ZERO_THRESH:
                 q6 = q6_des
             else:
-                q6 = atan2(
-                    sign(s5) * -(T01 * s1 - T11 * c1), sign(s5) * (T00 * s1 - T10 * c1)
-                )
+                q6 = atan2(sign(s5) * -(T01 * s1 - T11 * c1), sign(s5) * (T00 * s1 - T10 * c1))
             if fabs(q6) < ZERO_THRESH:
                 q6 = 0.0
             if q6 < 0.0:
@@ -199,9 +178,7 @@ def inverse_kinematics_offset_wrist(frame, params, q6_des=0.0):
 
             c6 = cos(q6)
             s6 = sin(q6)
-            x04x = -s5 * (T02 * c1 + T12 * s1) - c5 * (
-                s6 * (T01 * c1 + T11 * s1) - c6 * (T00 * c1 + T10 * s1)
-            )
+            x04x = -s5 * (T02 * c1 + T12 * s1) - c5 * (s6 * (T01 * c1 + T11 * s1) - c6 * (T00 * c1 + T10 * s1))
             x04y = c5 * (T20 * c6 - T21 * s6) - T22 * s5
             p13x = (
                 d5 * (s6 * (T00 * c1 + T10 * s1) + c6 * (T01 * c1 + T11 * s1))

src/compas_fab/backends/kinematics/solvers/spherical_wrist.py

@@ -238,4 +238,9 @@ def inverse_kinematics_spherical_wrist(target_frame, points):
                 axis6_angle = math.atan2(endy, endx)
                 axis6_angles.append(axis6_angle)
 
-    return [[a1, a2, a3, a4, a5, a6] for a1, a2, a3, a4, a5, a6 in zip(axis1_angles, axis2_angles, axis3_angles, axis4_angles, axis5_angles, axis6_angles)]
+    return [
+        [a1, a2, a3, a4, a5, a6]
+        for a1, a2, a3, a4, a5, a6 in zip(
+            axis1_angles, axis2_angles, axis3_angles, axis4_angles, axis5_angles, axis6_angles
+        )
+    ]

src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py

@@ -7,8 +7,7 @@
 
 
 class SphericalWristKinematics(object):
-    """
-    """
+    """ """
 
     def __init__(self, points):
         self.points = points
@@ -31,11 +30,14 @@ def _pre_process(self, joint_values):
 
 class Staubli_TX260LKinematics(SphericalWristKinematics):
     """Analytical IK solver for the Stäubli TX2 60L robot."""
+
     def __init__(self):
-        points = [Point(0.000, 0.000, 0.375),
-                  Point(0.000, 0.020, 0.775),
-                  Point(0.450, 0.020, 0.775),
-                  Point(0.520, 0.020, 0.775)]
+        points = [
+            Point(0.000, 0.000, 0.375),
+            Point(0.000, 0.020, 0.775),
+            Point(0.450, 0.020, 0.775),
+            Point(0.520, 0.020, 0.775),
+        ]
         super(Staubli_TX260LKinematics, self).__init__(points)
 
     def _pre_process(self, joint_values):
@@ -57,11 +59,14 @@ def _post_process(self, solutions):
 
 class ABB_IRB4600_40_255Kinematics(SphericalWristKinematics):
     """Analytical IK solver for the ABB IRB4600 40/255 robot."""
+
     def __init__(self):
-        points = [Point(0.175, 0.000, 0.495),
-                  Point(0.175, 0.000, 1.590),
-                  Point(1.446, 0.000, 1.765),
-                  Point(1.581, 0.000, 1.765)]
+        points = [
+            Point(0.175, 0.000, 0.495),
+            Point(0.175, 0.000, 1.590),
+            Point(1.446, 0.000, 1.765),
+            Point(1.581, 0.000, 1.765),
+        ]
         super(ABB_IRB4600_40_255Kinematics, self).__init__(points)
 
     def _pre_process(self, joint_values):

src/compas_fab/backends/kinematics/utils.py

@@ -23,10 +23,7 @@ def fit_within_bounds(angle, lower, upper):
 
 def joint_angles_to_configurations(robot, solutions, group=None):
     joint_names = robot.get_configurable_joint_names(group=group)
-    return [
-        Configuration.from_revolute_values(q, joint_names=joint_names) if q else None
-        for q in solutions
-    ]
+    return [Configuration.from_revolute_values(q, joint_names=joint_names) if q else None for q in solutions]
 
 
 def try_to_fit_configurations_between_bounds(robot, configurations, group=None):

src/compas_fab/backends/pybullet/__init__.py

@@ -1,10 +1,10 @@
 from __future__ import absolute_import
 
-from .client import *                     # noqa: F401,F403
-from .const import *                      # noqa: F401,F403
-from .conversions import *                # noqa: F401,F403
-from .exceptions import *                 # noqa: F401,F403
-from .planner import *                    # noqa: F401,F403
-from .utils import *                      # noqa: F401,F403
+from .client import *  # noqa: F401,F403
+from .const import *  # noqa: F401,F403
+from .conversions import *  # noqa: F401,F403
+from .exceptions import *  # noqa: F401,F403
+from .planner import *  # noqa: F401,F403
+from .utils import *  # noqa: F401,F403
 
 __all__ = [name for name in dir() if not name.startswith('_')]

src/compas_fab/backends/pybullet/backend_features/__init__.py

@@ -1,11 +1,15 @@
 from __future__ import absolute_import
 
-from compas_fab.backends.pybullet.backend_features.pybullet_add_attached_collision_mesh import PyBulletAddAttachedCollisionMesh
+from compas_fab.backends.pybullet.backend_features.pybullet_add_attached_collision_mesh import (
+    PyBulletAddAttachedCollisionMesh,
+)
 from compas_fab.backends.pybullet.backend_features.pybullet_add_collision_mesh import PyBulletAddCollisionMesh
 from compas_fab.backends.pybullet.backend_features.pybullet_append_collision_mesh import PyBulletAppendCollisionMesh
 from compas_fab.backends.pybullet.backend_features.pybullet_forward_kinematics import PyBulletForwardKinematics
 from compas_fab.backends.pybullet.backend_features.pybullet_inverse_kinematics import PyBulletInverseKinematics
-from compas_fab.backends.pybullet.backend_features.pybullet_remove_attached_collision_mesh import PyBulletRemoveAttachedCollisionMesh
+from compas_fab.backends.pybullet.backend_features.pybullet_remove_attached_collision_mesh import (
+    PyBulletRemoveAttachedCollisionMesh,
+)
 from compas_fab.backends.pybullet.backend_features.pybullet_remove_collision_mesh import PyBulletRemoveCollisionMesh