precommits

stepjam · Jan 31, 2024 · ea982b5 · ea982b5
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diff --git a/.gitignore b/.gitignore
@@ -99,4 +99,3 @@ ENV/
 .mypy_cache/
 
 pyrep/backend/_sim_cffi*
-
diff --git a/README.md b/README.md
@@ -21,7 +21,7 @@ PyRep has undergone a __MAJOR__ update, and is now compatible with the most rece
 
 ## Install
 
-PyRep requires version **4.6.0** of CoppeliaSim. Download: 
+PyRep requires version **4.6.0** of CoppeliaSim. Download:
 - [Ubuntu 20.04](https://downloads.coppeliarobotics.com/V4_6_0_rev16/CoppeliaSim_Edu_V4_6_0_rev16_Ubuntu20_04.tar.xz)
 - [Ubuntu 22.04](https://downloads.coppeliarobotics.com/V4_6_0_rev16/CoppeliaSim_Edu_V4_6_0_rev16_Ubuntu22_04.tar.xz)
 
@@ -97,7 +97,7 @@ from pyrep import PyRep
 
 pr = PyRep()
 # Launch the application with a scene file in headless mode
-pr.launch('scene.ttt', headless=True) 
+pr.launch('scene.ttt', headless=True)
 pr.start()  # Start the simulation
 
 # Do some stuff
@@ -113,7 +113,7 @@ pr.shutdown()  # Close the application
 from pyrep.objects.shape import Shape
 from pyrep.const import PrimitiveShape
 
-object = Shape.create(type=PrimitiveShape.CYLINDER, 
+object = Shape.create(type=PrimitiveShape.CYLINDER,
                       color=[r,g,b], size=[w, h, d],
                       position=[x, y, z])
 object.set_color([r, g, b])
@@ -124,7 +124,7 @@ object.set_position([x, y, z])
 
 Robots are designed to be modular; arms are treated separately to grippers.
 
-Use the robot ttm files defined in robots/ttms. These have been altered slightly from the original ones shipped with CoppeliaSim to allow them to be used with motional planning out of the box. 
+Use the robot ttm files defined in robots/ttms. These have been altered slightly from the original ones shipped with CoppeliaSim to allow them to be used with motional planning out of the box.
 The 'tip' of the robot may not be where you want it, so feel free to play around with this.
 
 ```python
@@ -134,7 +134,7 @@ from pyrep.robots.end_effectors.panda_gripper import PandaGripper
 
 pr = PyRep()
 # Launch the application with a scene file that contains a robot
-pr.launch('scene_with_panda.ttt') 
+pr.launch('scene_with_panda.ttt')
 pr.start()  # Start the simulation
 
 arm = Panda()  # Get the panda from the scene
@@ -149,7 +149,7 @@ done = False
 while not done:
     done = gripper.actuate(0.5, velocity=0.04)
     pr.step()
-    
+
 pr.stop()  # Stop the simulation
 pr.shutdown()  # Close the application
 ```

diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -12,31 +12,28 @@
 #
 import os
 import sys
-sys.path.insert(0, os.path.abspath('../../'))
+
+sys.path.insert(0, os.path.abspath("../../"))
 
 
 # -- Project information -----------------------------------------------------
 
-project = 'PyRep'
-copyright = '2019, Stephen James'
-author = 'Stephen James'
+project = "PyRep"
+copyright = "2019, Stephen James"
+author = "Stephen James"
 
 
 # -- General configuration ---------------------------------------------------
 
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.coverage',
-    'sphinx.ext.napoleon'
-]
+extensions = ["sphinx.ext.autodoc", "sphinx.ext.coverage", "sphinx.ext.napoleon"]
 
 autodoc_mock_imports = ["pyrep.backend._sim_cffi"]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
@@ -49,14 +46,14 @@
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'sphinx_rtd_theme'
+html_theme = "sphinx_rtd_theme"
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+html_static_path = ["_static"]
 
-master_doc = 'index'
+master_doc = "index"
 
 
 # -- Extension configuration -------------------------------------------------
diff --git a/examples/example_baxter_pick_and_pass.py b/examples/example_baxter_pick_and_pass.py
@@ -12,7 +12,7 @@
 from pyrep.objects.dummy import Dummy
 from pyrep.objects.shape import Shape
 
-SCENE_FILE = join(dirname(abspath(__file__)), 'scene_baxter_pick_and_pass.ttt')
+SCENE_FILE = join(dirname(abspath(__file__)), "scene_baxter_pick_and_pass.ttt")
 pr = PyRep()
 
 pr.launch(SCENE_FILE, headless=False)
@@ -23,67 +23,73 @@
 baxter_gripper_left = BaxterGripper(0)
 baxter_gripper_right = BaxterGripper(1)
 
-cup = Shape('Cup')
-waypoints = [Dummy('waypoint%d' % i) for i in range(7)]
+cup = Shape("Cup")
+waypoints = [Dummy("waypoint%d" % i) for i in range(7)]
 
-print('Planning path for left arm to cup ...')
-path = baxter_left.get_path(position=waypoints[0].get_position(),
-                            quaternion=waypoints[0].get_quaternion())
+print("Planning path for left arm to cup ...")
+path = baxter_left.get_path(
+    position=waypoints[0].get_position(), quaternion=waypoints[0].get_quaternion()
+)
 path.visualize()  # Let's see what the path looks like
-print('Executing plan ...')
+print("Executing plan ...")
 done = False
 while not done:
     done = path.step()
     pr.step()
 path.clear_visualization()
 
-print('Planning path closer to cup ...')
-path = baxter_left.get_path(position=waypoints[1].get_position(),
-                            quaternion=waypoints[1].get_quaternion())
-print('Executing plan ...')
+print("Planning path closer to cup ...")
+path = baxter_left.get_path(
+    position=waypoints[1].get_position(), quaternion=waypoints[1].get_quaternion()
+)
+print("Executing plan ...")
 done = False
 while not done:
     done = path.step()
     pr.step()
 
-print('Closing left gripper ...')
+print("Closing left gripper ...")
 while not baxter_gripper_left.actuate(0.0, 0.4):
     pr.step()
 baxter_gripper_left.grasp(cup)
 
-print('Planning path to lift cup ...')
-path = baxter_left.get_path(position=waypoints[2].get_position(),
-                            quaternion=waypoints[2].get_quaternion(),
-                            ignore_collisions=True)
-print('Executing plan ...')
+print("Planning path to lift cup ...")
+path = baxter_left.get_path(
+    position=waypoints[2].get_position(),
+    quaternion=waypoints[2].get_quaternion(),
+    ignore_collisions=True,
+)
+print("Executing plan ...")
 done = False
 while not done:
     done = path.step()
     pr.step()
 
-print('Planning path for right arm to cup ...')
-path = baxter_right.get_path(position=waypoints[3].get_position(),
-                             quaternion=waypoints[3].get_quaternion())
-print('Executing Plan ...')
+print("Planning path for right arm to cup ...")
+path = baxter_right.get_path(
+    position=waypoints[3].get_position(), quaternion=waypoints[3].get_quaternion()
+)
+print("Executing Plan ...")
 done = False
 while not done:
     done = path.step()
     pr.step()
 
-print('Planning path closer to cup ...')
-path = baxter_right.get_path(position=waypoints[4].get_position(),
-                             quaternion=waypoints[4].get_quaternion())
-print('Executing plan ...')
+print("Planning path closer to cup ...")
+path = baxter_right.get_path(
+    position=waypoints[4].get_position(), quaternion=waypoints[4].get_quaternion()
+)
+print("Executing plan ...")
 done = False
 while not done:
     done = path.step()
     pr.step()
 
-print('Closing right gripper ...')
+print("Closing right gripper ...")
 while not baxter_gripper_right.actuate(0.0, 0.4):
     pr.step()
 
-print('Opening left gripper ...')
+print("Opening left gripper ...")
 while not baxter_gripper_left.actuate(1.0, 0.4):
     pr.step()
 
@@ -92,15 +98,17 @@
 baxter_gripper_right.grasp(cup)
 pr.step()
 
-print('Planning path for left arm to home position ...')
-path_l = baxter_left.get_path(position=waypoints[5].get_position(),
-                              quaternion=waypoints[5].get_quaternion())
+print("Planning path for left arm to home position ...")
+path_l = baxter_left.get_path(
+    position=waypoints[5].get_position(), quaternion=waypoints[5].get_quaternion()
+)
 
-print('Planning path for right arm to home position ...')
-path_r = baxter_right.get_path(position=waypoints[6].get_position(),
-                               quaternion=waypoints[6].get_quaternion())
+print("Planning path for right arm to home position ...")
+path_r = baxter_right.get_path(
+    position=waypoints[6].get_position(), quaternion=waypoints[6].get_quaternion()
+)
 
-print('Executing plan on both arms ...')
+print("Executing plan on both arms ...")
 done_l = done_r = False
 while not done_l or not done_r:
     if not done_l:
@@ -109,7 +117,7 @@
         done_r = path_r.step()
     pr.step()
 
-print('Done ...')
-input('Press enter to finish ...')
+print("Done ...")
+input("Press enter to finish ...")
 pr.stop()
 pr.shutdown()
diff --git a/examples/example_locobot_stack_cube.py b/examples/example_locobot_stack_cube.py
@@ -12,7 +12,7 @@
 from pyrep.objects.shape import Shape
 from pyrep.objects.dummy import Dummy
 
-SCENE_FILE = join(dirname(abspath(__file__)), 'scene_locobot_stack_cube.ttt')
+SCENE_FILE = join(dirname(abspath(__file__)), "scene_locobot_stack_cube.ttt")
 pr = PyRep()
 pr.launch(SCENE_FILE, headless=False)
 pr.start()
@@ -35,9 +35,9 @@ def drive_to_position(position, orientation):
 
 
 def move_arm(position, quaternion, ignore_collisions=False):
-    arm_path = arm.get_path(position,
-                            quaternion=quaternion,
-                            ignore_collisions=ignore_collisions)
+    arm_path = arm.get_path(
+        position, quaternion=quaternion, ignore_collisions=ignore_collisions
+    )
     arm_path.visualize()
     done = False
     while not done:
@@ -46,51 +46,51 @@ def move_arm(position, quaternion, ignore_collisions=False):
     arm_path.clear_visualization()
 
 
-cuboid = Shape('cuboid')
-goal = Shape('goal')
-grasp_point = Dummy('grasp_point')
+cuboid = Shape("cuboid")
+goal = Shape("goal")
+grasp_point = Dummy("grasp_point")
 
 drive_pos = cuboid.get_position()
 drive_pos[1] -= 0.3
 
-print('Driving to cube ...')
+print("Driving to cube ...")
 drive_to_position(drive_pos, 0)
 
 grasp_point_raised = grasp_point.get_position()
 grasp_point_raised[2] += 0.075
 
-print('Move arm above cube ...')
+print("Move arm above cube ...")
 move_arm(grasp_point_raised, grasp_point.get_quaternion())
 
-print('Arm approach cube ...')
+print("Arm approach cube ...")
 move_arm(grasp_point.get_position(), grasp_point.get_quaternion(), True)
 
-print('Closing gripper ...')
+print("Closing gripper ...")
 while not gripper.actuate(0.0, 0.4):
     pr.step()
 gripper.grasp(cuboid)
 
-print('Lift cube ...')
+print("Lift cube ...")
 move_arm(grasp_point_raised, grasp_point.get_quaternion(), True)
 
 drive_pos = goal.get_position()
 drive_pos[1] -= 0.35
 
-print('Driving to goal ...')
+print("Driving to goal ...")
 drive_to_position(drive_pos, 0)
 
 goal_point_raised = goal.get_position()
 goal_point_raised[2] += 0.05
 
-print('Move arm above goal ...')
+print("Move arm above goal ...")
 move_arm(goal_point_raised, grasp_point.get_quaternion())
 
-print('Drop cube ...')
+print("Drop cube ...")
 gripper.release()
 while not gripper.actuate(1.0, 0.4):
     pr.step()
 
-print('Done!')
+print("Done!")
 
 pr.stop()
 pr.shutdown()
diff --git a/examples/example_panda_end_effector_control.py b/examples/example_panda_end_effector_control.py
@@ -8,7 +8,7 @@
 from pyrep import PyRep
 from pyrep.robots.arms.panda import Panda
 
-SCENE_FILE = join(dirname(abspath(__file__)), 'scene_panda_reach_target.ttt')
+SCENE_FILE = join(dirname(abspath(__file__)), "scene_panda_reach_target.ttt")
 DELTA = 0.01
 pr = PyRep()
 pr.launch(SCENE_FILE, headless=False)

diff --git a/examples/example_panda_ik.py b/examples/example_panda_ik.py
@@ -8,7 +8,7 @@
 from pyrep.errors import IKError
 from pyrep.robots.arms.panda import Panda
 
-SCENE_FILE = join(dirname(abspath(__file__)), 'scene_panda_reach_target.ttt')
+SCENE_FILE = join(dirname(abspath(__file__)), "scene_panda_reach_target.ttt")
 pr = PyRep()
 pr.launch(SCENE_FILE, headless=False, responsive_ui=True)
 pr.start()
@@ -26,13 +26,15 @@
 except IKError:
     # So let's swap to an alternative IK method...
     # This returns 'max_configs' number of joint positions
-    input('Press key to run solve_ik_via_sampling...')
-    new_joint_pos = agent.solve_ik_via_sampling([x, y, z - 0.4], quaternion=q, max_time_ms=2000)[0]
+    input("Press key to run solve_ik_via_sampling...")
+    new_joint_pos = agent.solve_ik_via_sampling(
+        [x, y, z - 0.4], quaternion=q, max_time_ms=2000
+    )[0]
 
 # Because the arm is in Forxe/Torque mode, we need to temporarily disable
 # dynamics in order to instantaneously move joints.
 agent.set_joint_positions(new_joint_pos, disable_dynamics=True)
-input('Press any key to finish...')
+input("Press any key to finish...")
 
 pr.stop()
 pr.shutdown()