lint

src/compas_fab/backends/ros/backend_features/move_it_set_robot_cell.py

@@ -4,7 +4,6 @@
 
 from compas import IPY
 from compas.utilities import await_callback
-from compas_robots.model import LinkGeometry
 
 from compas_fab.backends.interfaces import SetRobotCell
 from compas_fab.backends.ros.messages import ApplyPlanningSceneRequest

src/compas_fab/ghpython/scene/gh_scene_object.py

@@ -13,7 +13,7 @@
 if not IPY:
     from typing import TYPE_CHECKING
 
-    if TYPE_CHECKING:
+    if TYPE_CHECKING:  # pragma: no cover
         from typing import Optional  # noqa: F401
         from typing import List  # noqa: F401
 

src/compas_fab/ghpython/scene/rigid_body_object.py

@@ -3,9 +3,7 @@
 from __future__ import print_function
 
 
-from compas_ghpython.drawing import draw_mesh
 from .gh_scene_object import GHSceneObject
-from compas_rhino.conversions import transformation_to_rhino
 
 
 from compas_fab.scene import BaseRigidBodyObject
@@ -14,7 +12,7 @@
 if not IPY:
     from typing import TYPE_CHECKING
 
-    if TYPE_CHECKING:
+    if TYPE_CHECKING:  # pragma: no cover
         from typing import Optional  # noqa: F401
         from typing import List  # noqa: F401
 

src/compas_fab/robots/state.py

@@ -77,7 +77,7 @@ def __eq__(self, value):
             try:
                 if not self.robot_configuration.close_to(value.robot_configuration):
                     return False
-            except:
+            except Exception:
                 return False
         else:
             if self.robot_configuration != value.robot_configuration:
@@ -396,7 +396,8 @@ def __eq__(self, value):
         # type: (ToolState) -> bool
         if value is None:
             return False
-        # Wrap the tests in try block, if any of the attributes cannot be compared,
+        # In order to allow duck typing we do not assert value.__class__ to be equal to self.__class__
+        # Therefore, we wrap the tests in try block, if any of the attributes cannot be compared,
         # it will raise exception and return False
         try:
             if self.frame != value.frame:
@@ -411,14 +412,14 @@ def __eq__(self, value):
                 try:
                     if not self.configuration.close_to(value.configuration):
                         return False
-                except:
+                except Exception:
                     return False
             else:
                 if self.configuration != value.configuration:
                     return False
             if self.is_hidden != value.is_hidden:
                 return False
-        except:
+        except Exception:
             return False
         return True
 
@@ -569,6 +570,6 @@ def __eq__(self, value):
                 return False
             if self.is_hidden != value.is_hidden:
                 return False
-        except:
+        except Exception:
             return False
         return True

src/compas_fab/scene/base_rigid_body_object.py

@@ -7,7 +7,7 @@
 if not IPY:
     from typing import TYPE_CHECKING
 
-    if TYPE_CHECKING:
+    if TYPE_CHECKING:  # pragma: no cover
         from typing import Optional  # noqa: F401
         from typing import List  # noqa: F401
         from compas_fab.robots import RigidBody  # noqa: F401

src/compas_fab/scene/base_robot_cell_object.py

@@ -1,23 +1,20 @@
 from compas import IPY
 from compas.scene import SceneObject
-from compas_fab.robots import RobotCellState
+
 
 if not IPY:
     from typing import TYPE_CHECKING
 
-    if TYPE_CHECKING:
+    if TYPE_CHECKING:  # pragma: no cover
         from typing import List  # noqa: F401
         from typing import Optional  # noqa: F401
 
-        from .base_robot_model_object import BaseRobotModelObject  # noqa: F401
-
-        # from compas_fab.scene import BaseToolObject
-        from compas_fab.robots import RigidBody  # noqa: F401
-        from compas_fab.robots import RigidBodyState  # noqa: F401
         from compas_fab.robots import RobotCell  # noqa: F401
-
+        from compas_fab.robots import RobotCellState  # noqa: F401
         from compas_fab.scene import BaseRigidBodyObject  # noqa: F401
 
+        from .base_robot_model_object import BaseRobotModelObject  # noqa: F401
+
 
 class BaseRobotCellObject(SceneObject):
     """Base class for all robot cell objects.

src/compas_fab/scene/base_robot_model_object.py

@@ -1,23 +1,21 @@
 from compas import IPY
-from compas.datastructures import Mesh
-from compas.geometry import Frame
+
 from compas.geometry import Transformation
 from compas.geometry import Scale
 from compas.scene import SceneObject
-from compas_robots.model import MeshDescriptor
 
 if not IPY:
     from typing import TYPE_CHECKING
 
-    if TYPE_CHECKING:
+    if TYPE_CHECKING:  # pragma: no cover
         from typing import List  # noqa: F401
         from typing import Optional  # noqa: F401
 
         from compas_robots import Configuration  # noqa: F401
         from compas_robots import RobotModel  # noqa: F401
-        from compas_robots.model import Collision  # noqa: F401
-        from compas_robots.model import Link  # noqa: F401
-        from compas_robots.model import Visual  # noqa: F401
+
+        from compas.datastructures import Mesh  # noqa: F401
+        from compas.geometry import Frame  # noqa: F401
 
 
 class BaseRobotModelObject(SceneObject):

tests/robots/test_robot_cell.py

@@ -18,7 +18,7 @@
     from typing import TYPE_CHECKING
 
     if TYPE_CHECKING:  # pragma: no cover
-        from typing import Tuple
+        from typing import Tuple  # noqa: F401
 
 
 @pytest.fixture
@@ -161,7 +161,7 @@ def test_get_link_names(panda, rfl, ur10e_gripper_one_beam, abb_irb4600_40_255_g
     def _test(rc, rcs):
         # type: (RobotCell, RobotCellState) -> None
 
-        all_link_names = [l.name for l in rc.robot_model.links]
+        all_link_names = [link.name for link in rc.robot_model.links]
         for group in rc.group_names:
             group_link_names = rc.get_link_names(group)
             assert all(link_name in all_link_names for link_name in group_link_names)

tests/robots/test_semantics.py

@@ -65,7 +65,7 @@ def test_panda_srdf_file(panda_srdf, panda_urdf):
 def test_ur5_semantics():
     robot_cell, robot_cell_state = RobotCellLibrary.ur5(load_geometry=False)
     semantics = robot_cell.robot_semantics
-    assert sorted(semantics.group_names) == sorted(["manipulator", "endeffector"])
+    assert semantics.group_names == ["manipulator"]
     assert semantics.main_group_name == "manipulator"
     assert semantics.get_base_link_name() == "base_link"
     assert semantics.get_end_effector_link_name() == "tool0"

tests/robots/test_state.py

@@ -4,27 +4,22 @@
 
 import pytest
 from compas import IPY
-from compas.data import Data
 from compas.geometry import Frame
 from compas.geometry import Transformation
 
 if not IPY:
     from typing import TYPE_CHECKING
 
     if TYPE_CHECKING:  # pragma: no cover
-        from typing import Dict  # noqa: F401
-        from typing import List  # noqa: F401
         from typing import Tuple  # noqa: F401
 
         from compas_robots import Configuration  # noqa: F401
-
         from compas_fab.robots import RobotCell  # noqa: F401
+        from compas_fab.robots import RobotCellState  # noqa: F401
 
 from compas_fab.robots import RigidBodyState
 from compas_fab.robots import RobotCellLibrary
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import ToolState
-from compas_robots import Configuration
 
 # In this file context
 # - rbs stands for RigidBodyState
@@ -314,12 +309,6 @@ def test_rcs_eq(rcs_ur10e_gripper_one_beam):
     assert a is not b
     assert a == b
 
-    b = deepcopy(a)
-    b.robot_flange_frame = Frame([3, 2, 1], [0.1, 0.2, 0.3])
-    assert a != b
-    b.robot_flange_frame = None
-    assert a != b
-
     b = deepcopy(a)
     b.robot_configuration.joint_values[0] = 999
     assert a != b
@@ -403,13 +392,13 @@ def test_rcs_set_attach_functions(rc_rcs_ur10e_gripper_one_beam, ts_stationary):
 
     assert rcs.get_attached_tool_id(group) == gripper_id
     assert rcs.tool_states[gripper_id].attached_to_group == group
-    assert rcs.tool_states[gripper_id].frame == None
+    assert rcs.tool_states[gripper_id].frame is None
     assert rcs.tool_states[gripper_id].attachment_frame == Frame.worldXY()
     assert rcs.tool_states[gripper_id].touch_links == []
 
     # Detach tool manually
     rcs.tool_states[gripper_id].attached_to_group = None
-    assert rcs.get_attached_tool_id(group) == None
+    assert rcs.get_attached_tool_id(group) is None
     assert rcs.get_detached_tool_ids() == [gripper_id]
     # Attach tool to group using function
     attachment_frame = Frame([1, 2, 3], [0.1, 0.2, 0.3])
@@ -435,7 +424,7 @@ def test_rcs_set_attach_functions(rc_rcs_ur10e_gripper_one_beam, ts_stationary):
     # Detach the print tool
     rcs.set_tool_detached(print_tool_id)
     rcs.set_tool_detached(gripper_id, frame=Frame.worldXY(), touch_links=["link0"])
-    assert rcs.get_attached_tool_id(group) == None
+    assert rcs.get_attached_tool_id(group) is None
     assert rcs.get_attached_workpiece_ids(group) == []
 
     # Attach workpiece to tool