arrange imports on examples

gonzalocasas · gonzalocasas · commit 1b4bf7d6f511 · 2025-06-06T10:48:50.000+02:00
diff --git a/docs/backends/pybullet/files/01_set_robot_cell_state.py b/docs/backends/pybullet/files/01_set_robot_cell_state.py
@@ -9,7 +9,6 @@
 from compas_fab.robots import RigidBody
 from compas_fab.robots import RobotCellLibrary
 
-
 with PyBulletClient() as client:
     # ---------------------------------------------------------------------
     # Create a robot cell and add objects to it
diff --git a/docs/backends/pybullet/files/02_check_collision.py b/docs/backends/pybullet/files/02_check_collision.py
@@ -1,13 +1,9 @@
 import time
 
-import compas_fab
-from compas_robots import Configuration
+from compas_fab.backends import CollisionCheckError
 from compas_fab.backends import PyBulletClient
 from compas_fab.backends import PyBulletPlanner
-from compas_fab.robots import RobotCell
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import RobotCellLibrary
-from compas_fab.backends import CollisionCheckError
 
 with PyBulletClient("gui") as client:
     planner = PyBulletPlanner(client)
diff --git a/docs/backends/pybullet/files/04_ik_errors.py b/docs/backends/pybullet/files/04_ik_errors.py
@@ -1,15 +1,14 @@
 from compas.geometry import Frame
+
 from compas_fab.backends import PyBulletClient
 from compas_fab.backends import PyBulletPlanner
-
+from compas_fab.backends.exceptions import InverseKinematicsError
 from compas_fab.robots import FrameTarget
-from compas_fab.robots import RobotCellLibrary
 from compas_fab.robots import RigidBodyLibrary
 from compas_fab.robots import RigidBodyState
+from compas_fab.robots import RobotCellLibrary
 from compas_fab.robots import TargetMode
 
-from compas_fab.backends.exceptions import InverseKinematicsError
-
 with PyBulletClient() as client:
 
     # Load a pre-made robot cell with one tool from the RobotCellLibrary
diff --git a/docs/backends/pybullet/files/04_ik_point_axis_target.py b/docs/backends/pybullet/files/04_ik_point_axis_target.py
@@ -1,6 +1,5 @@
 from compas_fab.backends import PyBulletClient
 from compas_fab.backends import PyBulletPlanner
-
 from compas_fab.robots import PointAxisTarget
 from compas_fab.robots import RobotCellLibrary
 from compas_fab.robots import TargetMode
diff --git a/docs/backends/pybullet/files/04_ik_point_axis_target_obstacle.py b/docs/backends/pybullet/files/04_ik_point_axis_target_obstacle.py
@@ -1,16 +1,16 @@
 # This example demonstrates the ability of PointAxisTarget to search a valid
 # configuration around collision objects
 
-from compas.geometry import Frame
 from compas.geometry import Box
+from compas.geometry import Frame
+
 from compas_fab.backends import PyBulletClient
 from compas_fab.backends import PyBulletPlanner
-
 from compas_fab.robots import PointAxisTarget
+from compas_fab.robots import RigidBody
+from compas_fab.robots import RigidBodyState
 from compas_fab.robots import RobotCellLibrary
 from compas_fab.robots import TargetMode
-from compas_fab.robots import RigidBodyState
-from compas_fab.robots import RigidBody
 
 with PyBulletClient() as client:
 
diff --git a/docs/backends/pybullet/files/04_ik_semi_constrained.py b/docs/backends/pybullet/files/04_ik_semi_constrained.py
@@ -7,11 +7,8 @@
 
 from compas_fab.backends import PyBulletClient
 from compas_fab.backends import PyBulletPlanner
-
 from compas_fab.robots import FrameTarget
-from compas_fab.robots import RobotCellLibrary
 from compas_fab.robots import RigidBodyLibrary
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import RobotCellLibrary
 from compas_fab.robots import TargetMode
 
diff --git a/docs/backends/pybullet/files/04_ik_tool_target_mode.py b/docs/backends/pybullet/files/04_ik_tool_target_mode.py
@@ -1,7 +1,7 @@
 from compas.geometry import Frame
+
 from compas_fab.backends import PyBulletClient
 from compas_fab.backends import PyBulletPlanner
-
 from compas_fab.robots import FrameTarget
 from compas_fab.robots import RobotCellLibrary
 from compas_fab.robots import TargetMode
diff --git a/docs/backends/pybullet/files/07_plan_motion_config_target.py b/docs/backends/pybullet/files/07_plan_motion_config_target.py
@@ -1,8 +1,6 @@
 from _pybullet_demo_helper import trajectory_replay
 from compas.geometry import Box
 from compas.geometry import Frame
-from compas.geometry import Point
-from compas.geometry import Vector
 
 from compas_fab.backends import MPNoIKSolutionError
 from compas_fab.backends import MPNoPlanFoundError
@@ -12,7 +10,6 @@
 from compas_fab.robots import RigidBody
 from compas_fab.robots import RigidBodyState
 from compas_fab.robots import RobotCellLibrary
-from compas_fab.robots import RobotCellState
 
 with PyBulletClient("gui") as client:
     planner = PyBulletPlanner(client)
diff --git a/docs/backends/ros/files/02_load_robot_cell.py b/docs/backends/ros/files/02_load_robot_cell.py
@@ -1,5 +1,5 @@
-from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
+from compas_fab.backends import RosClient
 
 with RosClient() as client:
     robot_cell = client.load_robot_cell()
diff --git a/docs/backends/ros/files/02_set_robot_cell.py b/docs/backends/ros/files/02_set_robot_cell.py
@@ -1,11 +1,10 @@
-from compas_fab.backends import RosClient
-from compas_fab.backends import MoveItPlanner
+from compas.geometry import Box
 
-from compas_fab.robots import ToolLibrary
+from compas_fab.backends import MoveItPlanner
+from compas_fab.backends import RosClient
 from compas_fab.robots import RigidBody
 from compas_fab.robots import RigidBodyLibrary
-
-from compas.geometry import Box
+from compas_fab.robots import ToolLibrary
 
 with RosClient() as client:
     robot_cell = client.load_robot_cell()
diff --git a/docs/backends/ros/files/03_forward_kinematics.py b/docs/backends/ros/files/03_forward_kinematics.py
@@ -1,6 +1,6 @@
-from compas_fab.robots import TargetMode
-from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
+from compas_fab.backends import RosClient
+from compas_fab.robots import TargetMode
 
 with RosClient() as client:
     robot_cell = client.load_robot_cell()
diff --git a/docs/backends/ros/files/03_forward_kinematics_target_mode.py b/docs/backends/ros/files/03_forward_kinematics_target_mode.py
@@ -1,9 +1,9 @@
 from compas.geometry import Frame
-from compas_fab.robots import RobotCellState
-from compas_fab.robots import TargetMode
-from compas_fab.robots import RobotCellLibrary
-from compas_fab.backends import RosClient
+
 from compas_fab.backends import MoveItPlanner
+from compas_fab.backends import RosClient
+from compas_fab.robots import RobotCellLibrary
+from compas_fab.robots import TargetMode
 
 with RosClient() as client:
     planner = MoveItPlanner(client)
diff --git a/docs/backends/ros/files/03_forward_kinematics_to_link.py b/docs/backends/ros/files/03_forward_kinematics_to_link.py
@@ -1,5 +1,5 @@
-from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
+from compas_fab.backends import RosClient
 
 with RosClient() as client:
     robot_cell = client.load_robot_cell()
diff --git a/docs/backends/ros/files/04_ik_unreachable.py b/docs/backends/ros/files/04_ik_unreachable.py
@@ -1,12 +1,11 @@
 from compas.geometry import Frame
 
+from compas_fab.backends import InverseKinematicsError
 from compas_fab.backends import MoveItPlanner
 from compas_fab.backends import RosClient
 from compas_fab.robots import FrameTarget
 from compas_fab.robots import TargetMode
 
-from compas_fab.backends import InverseKinematicsError
-
 with RosClient() as client:
     planner = MoveItPlanner(client)
 
diff --git a/docs/backends/ros/files/05_plan_motion.py b/docs/backends/ros/files/05_plan_motion.py
@@ -1,11 +1,10 @@
-import math
 
 from compas.geometry import Frame
 
+from compas_fab.backends import MoveItPlanner
 from compas_fab.backends import RosClient
 from compas_fab.robots import FrameTarget
 from compas_fab.robots import TargetMode
-from compas_fab.backends import MoveItPlanner
 
 with RosClient() as client:
     robot_cell = client.load_robot_cell()
diff --git a/docs/backends/ros/files/05_plan_motion_configuration.py b/docs/backends/ros/files/05_plan_motion_configuration.py
@@ -1,11 +1,8 @@
-import math
 
-from compas.geometry import Frame
 
+from compas_fab.backends import MoveItPlanner
 from compas_fab.backends import RosClient
 from compas_fab.robots import ConfigurationTarget
-from compas_fab.robots import TargetMode
-from compas_fab.backends import MoveItPlanner
 
 with RosClient() as client:
     robot_cell = client.load_robot_cell()
diff --git a/docs/backends/ros/files/05_plan_motion_tolerance.py b/docs/backends/ros/files/05_plan_motion_tolerance.py
@@ -1,14 +1,11 @@
-import math
 
 from compas.geometry import Frame
 from compas.geometry import axis_angle_from_quaternion
-from compas.geometry import norm_vector
-
 
+from compas_fab.backends import MoveItPlanner
 from compas_fab.backends import RosClient
 from compas_fab.robots import FrameTarget
 from compas_fab.robots import TargetMode
-from compas_fab.backends import MoveItPlanner
 
 with RosClient() as client:
     robot_cell = client.load_robot_cell()
diff --git a/docs/backends/ros/files/05_plan_motion_with_attachment.py b/docs/backends/ros/files/05_plan_motion_with_attachment.py
@@ -3,9 +3,8 @@
 from compas_fab.backends import MoveItPlanner
 from compas_fab.backends import RosClient
 from compas_fab.robots import FrameTarget
-from compas_fab.robots import TargetMode
-
 from compas_fab.robots import RobotCellLibrary
+from compas_fab.robots import TargetMode
 
 with RosClient() as client:
     planner = MoveItPlanner(client)
diff --git a/docs/backends/ros/files/06_cartesian_motion.py b/docs/backends/ros/files/06_cartesian_motion.py
@@ -1,7 +1,7 @@
 from compas.geometry import Frame
 
-from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
+from compas_fab.backends import RosClient
 from compas_fab.robots import FrameWaypoints
 from compas_fab.robots import TargetMode
 
diff --git a/docs/backends/ros/files/06_cartesian_motion_step_size.py b/docs/backends/ros/files/06_cartesian_motion_step_size.py
@@ -1,7 +1,7 @@
 from compas.geometry import Frame
 
-from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
+from compas_fab.backends import RosClient
 from compas_fab.robots import FrameWaypoints
 from compas_fab.robots import TargetMode
 
diff --git a/docs/backends/ros/files/06_cartesian_motion_target_mode.py b/docs/backends/ros/files/06_cartesian_motion_target_mode.py
@@ -1,10 +1,10 @@
 from compas.geometry import Frame
 
-from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
+from compas_fab.backends import RosClient
 from compas_fab.robots import FrameWaypoints
-from compas_fab.robots import TargetMode
 from compas_fab.robots import RobotCellLibrary
+from compas_fab.robots import TargetMode
 
 with RosClient() as client:
     planner = MoveItPlanner(client)
diff --git a/docs/backends/ros/files/10_ros_hello_world_listener.py b/docs/backends/ros/files/10_ros_hello_world_listener.py
@@ -1,6 +1,7 @@
 import time
 
 from roslibpy import Topic
+
 from compas_fab.backends import RosClient
 
 
diff --git a/docs/backends/ros/files/Construct Robot Cell.py b/docs/backends/ros/files/Construct Robot Cell.py
@@ -1,17 +1,17 @@
+
 from compas.datastructures import Mesh
-from compas.geometry import Frame
 from compas.geometry import Box
+from compas.geometry import Frame
 
 import compas_fab
-from math import pi
-from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
-from compas_fab.robots import RigidBody
-from compas_fab.robots import ToolLibrary
-from compas_fab.robots import FrameWaypoints
-from compas_fab.robots import TargetMode
+from compas_fab.backends import RosClient
 from compas_fab.robots import FrameTarget
+from compas_fab.robots import FrameWaypoints
+from compas_fab.robots import RigidBody
 from compas_fab.robots import RigidBodyLibrary
+from compas_fab.robots import TargetMode
+from compas_fab.robots import ToolLibrary
 
 target_frames = []
 target_frames.append(Frame([0.4, 0.3, 0.45], [0, 1, 0], [-1, 0, 0]))
diff --git a/docs/backends/ros/files/gh_plan_cartesian_motion.py b/docs/backends/ros/files/gh_plan_cartesian_motion.py
@@ -24,9 +24,10 @@
 """
 
 from __future__ import print_function
-import scriptcontext as sc
 
+import scriptcontext as sc
 from compas.geometry import Frame
+
 from compas_fab.robots import FrameWaypoints
 
 guid = str(ghenv.Component.InstanceGuid)
diff --git a/docs/backends/ros/files/gh_plan_motion.py b/docs/backends/ros/files/gh_plan_motion.py
@@ -26,6 +26,7 @@
             The calculated trajectory.
 """
 from __future__ import print_function
+
 import scriptcontext as sc
 
 guid = str(ghenv.Component.InstanceGuid)
diff --git a/docs/concepts/01_frames/files/01_frame_constructor.py b/docs/concepts/01_frames/files/01_frame_constructor.py
@@ -1,6 +1,6 @@
+from compas.geometry import Frame
 from compas.geometry import Point
 from compas.geometry import Vector
-from compas.geometry import Frame
 
 point = Point(10.0, 20.0, 30.0)
 xaxis = Vector(1, 0, 0)
diff --git a/docs/concepts/01_frames/files/01_frame_transform_object.py b/docs/concepts/01_frames/files/01_frame_transform_object.py
@@ -1,7 +1,7 @@
-from compas.geometry import Point
-from compas.geometry import Vector
 from compas.geometry import Frame
+from compas.geometry import Point
 from compas.geometry import Transformation
+from compas.geometry import Vector
 
 point = Point(146.00, 150.00, 161.50)
 xaxis = Vector(0.9767, 0.0010, -0.214)
diff --git a/docs/concepts/02_robot_model/files/02_robot_from_github.py b/docs/concepts/02_robot_model/files/02_robot_from_github.py
@@ -1,5 +1,5 @@
-from compas_robots.resources import GithubPackageMeshLoader
 from compas_robots import RobotModel
+from compas_robots.resources import GithubPackageMeshLoader
 
 # Select Github repository, package and branch where the model is stored
 repository = "ros-industrial/abb"
diff --git a/docs/concepts/02_robot_model/files/02_robot_from_library.py b/docs/concepts/02_robot_model/files/02_robot_from_library.py
@@ -1,4 +1,3 @@
-from compas_robots.resources import GithubPackageMeshLoader
 from compas_fab.robots import RobotCellLibrary
 
 # Load robot from RobotCellLibrary
diff --git a/docs/concepts/02_robot_model/files/03_robot_blender.py b/docs/concepts/02_robot_model/files/03_robot_blender.py
@@ -1,6 +1,6 @@
 from compas_robots import RobotModel
-from compas_robots.resources import GithubPackageMeshLoader
 from compas_robots.blender import RobotModelArtist
+from compas_robots.resources import GithubPackageMeshLoader
 
 r = "ros-industrial/abb"
 p = "abb_irb6600_support"
diff --git a/docs/concepts/02_robot_model/files/03_robot_rhino_from_ros.py b/docs/concepts/02_robot_model/files/03_robot_rhino_from_ros.py
@@ -1,6 +1,7 @@
-from compas_fab.backends import RosClient
 from compas.scene import Scene
 
+from compas_fab.backends import RosClient
+
 with RosClient() as ros:
     # Load complete model from ROS
     robot_cell = ros.load_robot_cell(load_geometry=True, precision=12)
diff --git a/docs/concepts/02_robot_model/files/04_robot_cell_library_pybullet.py b/docs/concepts/02_robot_model/files/04_robot_cell_library_pybullet.py
@@ -1,6 +1,5 @@
 from compas_fab.backends.pybullet import PyBulletClient
 from compas_fab.backends.pybullet import PyBulletPlanner
-
 from compas_fab.robots import RobotCellLibrary
 
 with PyBulletClient() as client:
diff --git a/docs/concepts/02_robot_model/files/05_robot_model_chains.py b/docs/concepts/02_robot_model/files/05_robot_model_chains.py
@@ -1,8 +1,9 @@
 # This example file demonstrates how to print the chain of links and joints in a robot model.
 
-from compas_fab.robots import RobotCellLibrary
 from compas_robots.model import Joint
 
+from compas_fab.robots import RobotCellLibrary
+
 # RobotCellLibrary also contains .ur5(), .ur10e(), abb_irb120_3_58(), abb_irb4600_40_255(), .rfl(), .panda()
 robot_cell, robot_cell_state = RobotCellLibrary.panda(load_geometry=False)
 
diff --git a/docs/concepts/02_robot_model/files/05_robot_viewer.py b/docs/concepts/02_robot_model/files/05_robot_viewer.py
@@ -1,8 +1,9 @@
-from compas_fab.robots import RobotCellLibrary
-from compas_robots.viewer.scene.robotmodelobject import RobotModelObject
 from compas_robots.model import Joint
-from compas_viewer.components import Slider
+from compas_robots.viewer.scene.robotmodelobject import RobotModelObject
 from compas_viewer import Viewer
+from compas_viewer.components import Slider
+
+from compas_fab.robots import RobotCellLibrary
 
 # Initialize the viewer
 viewer = Viewer()
diff --git a/docs/concepts/05_robot_cell/files/01_ros_robot_cell_with_tools.py b/docs/concepts/05_robot_cell/files/01_ros_robot_cell_with_tools.py
diff --git a/docs/concepts/05_robot_cell/files/01_ros_set_robot_cell.py b/docs/concepts/05_robot_cell/files/01_ros_set_robot_cell.py
diff --git a/docs/examples/06_backends_kinematics/files/01_forward_kinematics.py b/docs/examples/06_backends_kinematics/files/01_forward_kinematics.py
diff --git a/docs/examples/06_backends_kinematics/files/02_inverse_kinematics with_tools.py b/docs/examples/06_backends_kinematics/files/02_inverse_kinematics with_tools.py
diff --git a/docs/examples/06_backends_kinematics/files/02_inverse_kinematics.py b/docs/examples/06_backends_kinematics/files/02_inverse_kinematics.py
diff --git a/docs/examples/06_backends_kinematics/files/03_analytical_pybullet_planner.py b/docs/examples/06_backends_kinematics/files/03_analytical_pybullet_planner.py
diff --git a/docs/examples/06_backends_kinematics/files/03_iter_ik_pybullet.py b/docs/examples/06_backends_kinematics/files/03_iter_ik_pybullet.py
diff --git a/docs/examples/06_backends_kinematics/files/04_cartesian_path_analytic_pybullet.py b/docs/examples/06_backends_kinematics/files/04_cartesian_path_analytic_pybullet.py
diff --git a/docs/frontends/rhino/files/visualize_with_eto_form.py b/docs/frontends/rhino/files/visualize_with_eto_form.py
