format

examples/01_basic.py

@@ -22,6 +22,5 @@ async def main():
         print(tcp_pose)
 
 
-
 if __name__ == "__main__":
     asyncio.run(main())

wandelbots/core/motion_group.py

@@ -107,8 +107,6 @@ async def plan(self, path: MotionTrajectory, tcp: str) -> wb.models.PlanTrajecto
         current_joints = await self.joints(tcp=tcp)
         robot_setup = await self._get_optimizer_setup(tcp=tcp)
 
-
-
         # TODO: paths = [wb.models.MotionCommandPath(**path.model_dump()) for path in path.motions]
         paths = [wb.models.MotionCommandPath.from_json(path.model_dump_json()) for path in path.motions]
         motion_commands = [wb.models.MotionCommand(path=path) for path in paths]
@@ -170,7 +168,6 @@ async def move_along_path(
             if joint_velocities is not None:
                 limit_override.joint_velocity_limits = wb.models.Joints(joints=joint_velocities)
 
-
             # Iterator that moves the robot to start of motion
             move_to_trajectory_stream = motion_api.stream_move_to_trajectory_via_joint_ptp(
                 cell=self._cell, motion=load_plan_response.motion, location_on_trajectory=0
@@ -181,14 +178,11 @@ async def move_along_path(
             playback_speed_in_percent = 100
 
             responses = []
+
             async def movement_controller(
-                    response_stream: AsyncGenerator,
+                response_stream: AsyncGenerator,
             ) -> (AsyncGenerator)[wb.models.ExecuteTrajectoryRequest, wb.models.ExecuteTrajectoryResponse]:
-                yield wb.models.InitializeMovementRequest(
-                    trajectory=load_plan_response.motion,
-                    initial_location=0,
-                )
-
+                yield wb.models.InitializeMovementRequest(trajectory=load_plan_response.motion, initial_location=0)
 
                 initialize_movement_response = await anext(response_stream)
                 print(f"initial move response {initialize_movement_response}")
@@ -200,9 +194,7 @@ async def movement_controller(
                     for action in path.actions
                 ]
 
-                yield wb.models.StartMovementRequest(
-                    set_ios=set_io_list,
-                )
+                yield wb.models.StartMovementRequest(set_ios=set_io_list)
 
                 async for execute_trajectory_response in response_stream:
                     response = execute_trajectory_response.actual_instance
@@ -216,7 +208,6 @@ async def movement_controller(
 
             await motion_api.execute_trajectory(self._cell, movement_controller)
 
-
         """
         if any(isinstance(motion, dts.UnresolvedMotion) for motion in path.motions) or collision_scene is not None:
             current_joints = await self._get_current_joints()

wandelbots/core/nova.py

@@ -53,8 +53,8 @@ def __init__(
     ):
         self._api_client = self._init_api_client(host, username, password, access_token, version)
 
-
-    def _init_api_client(self,
+    def _init_api_client(
+        self,
         host: str | None = None,
         username: str | None = None,
         password: str | None = None,
@@ -82,11 +82,11 @@ def _init_api_client(self,
         )
         return wb.ApiClient(api_client_config)
 
-
     def cell(self, cell_id: str = "cell") -> "Cell":
         # TODO check if the cell exists
         return Cell(self._api_client, cell_id)
 
+
 class Cell:
     def __init__(self, api_client: wb.ApiClient, cell_id: str):
         self._api_client = api_client
@@ -100,4 +100,4 @@ async def controller(self, controller_host: str = None) -> "Controller":
         if found_controller is None:
             raise ControllerNotFoundException(controller=controller_host)
 
-        return Controller(api_client=self._api_client, cell=self._cell_id, controller_host=found_controller.host)
+        return Controller(api_client=self._api_client, cell=self._cell_id, controller_host=found_controller.host)

wandelbots/types/motion.py

@@ -204,10 +204,7 @@ class JointPTP(Motion):
 
     @pydantic.model_serializer
     def custom_serialize(self):
-        return {
-            "target_joint_position": list(self.target),
-            "path_definition_name": "PathJointPTP",
-        }
+        return {"target_joint_position": list(self.target), "path_definition_name": "PathJointPTP"}
 
 
 def jnt(target: tuple[float, ...], settings: MotionSettings = MotionSettings()) -> JointPTP:

wandelbots/types/pose.py

@@ -5,6 +5,7 @@
 
 from scipy.spatial.transform import Rotation as R
 
+
 class Position(Vector3d):
     """A position
 
@@ -69,7 +70,6 @@ def __round__(self, n=None):
             tuple([round(a, 1) for a in pos_and_rot_vector[:3]] + [round(a, 3) for a in pos_and_rot_vector[3:]])
         )
 
-
     def to_tuple(self) -> tuple[float, float, float, float, float, float]:
         """Return the pose as a tuple
 
@@ -100,7 +100,6 @@ def from_tuple(cls, value: tuple[float, float, float, float, float, float]):
     def __getitem__(self, item):
         return self.to_tuple()[item]
 
-
     def __matmul__(self, other):
         if isinstance(other, Pose):
             transformed_matrix = np.dot(self.matrix, other.matrix)
@@ -112,7 +111,6 @@ def __matmul__(self, other):
         else:
             raise ValueError(f"Cannot multiply Pose with {type(other)}")
 
-
     def _to_homogenous_transformation_matrix(self):
         """Converts the pose (position and rotation vector) to a 4x4 homogeneous transformation matrix."""
         rotation_vec = [self.orientation.x, self.orientation.y, self.orientation.z]
@@ -122,8 +120,6 @@ def _to_homogenous_transformation_matrix(self):
         mat[:3, 3] = [self.position.x, self.position.y, self.position.z]
         return mat
 
-
-
     def _matrix_to_pose(self, matrix: np.ndarray) -> "Pose":
         """Converts a homogeneous transformation matrix to a Pose."""
         rotation_matrix = matrix[:3, :3]
@@ -133,8 +129,7 @@ def _matrix_to_pose(self, matrix: np.ndarray) -> "Pose":
             (position[0], position[1], position[2], rotation_vec[0], rotation_vec[1], rotation_vec[2])
         )
 
-
     @property
     def matrix(self) -> np.ndarray:
         """Returns the homogeneous transformation matrix."""
-        return self._to_homogenous_transformation_matrix()
+        return self._to_homogenous_transformation_matrix()