Organize imports, Fix Lint, Fix Init files

src/compas_fab/backends/__init__.py

@@ -107,7 +107,24 @@
 import compas
 
 # Base imports
-from .exceptions import *
+from .exceptions import (
+    BackendError,
+    BackendFeatureNotSupportedError,
+    BackendTargetNotSupportedError,
+    TargetModeMismatchError,
+    PlanningGroupNotExistsError,
+    InverseKinematicsError,
+    KinematicsError,
+    CollisionCheckError,
+    MotionPlanningError,
+    MPStartStateInCollisionError,
+    MPTargetInCollisionError,
+    MPInterpolationInCollisionError,
+    MPSearchTimeOutError,
+    MPNoIKSolutionError,
+    MPNoPlanFoundError,
+    MPMaxJumpError,
+)
 
 from .tasks import (
     FutureResult,
@@ -123,19 +140,17 @@
     MoveItPlanner,
 )
 
-# Analytic IK
+# Kinematics imports
 from .kinematics import (
+    # Kinematics - Analytic IK
     AnalyticalInverseKinematics,
     AnalyticalPlanCartesianMotion,
     AnalyticalPyBulletPlanner,
     AnalyticalKinematicsPlanner,
     OffsetWristKinematics,
     SphericalWristKinematics,
     CartesianMotionError,
-)
-
-# Robot-specific analytic IK
-from .kinematics import (
+    # Kinematics - Robot-specific analytic IK
     UR3Kinematics,
     UR3eKinematics,
     UR5Kinematics,
@@ -146,8 +161,9 @@
     ABB_IRB4600_40_255Kinematics,
 )
 
+# NOTE: IPY guard because PyBullet do not work in IronPython
+# PyBullet imports
 if not compas.IPY:
-    # PyBullet do not work in IronPython
     from .pybullet import (
         PyBulletClient,
         PyBulletError,
@@ -156,45 +172,58 @@
         PlanningGroupNotSupported,
     )
 
-# __all__ = [
-#     # Base
-#     "BackendError",
-#     "BackendFeatureNotSupportedError",
-#     "InverseKinematicsError",
-#     "KinematicsError",
-#     "CollisionCheckError",
-#     "FutureResult",
-#     "CancellableFutureResult",
-#     "MPMaxJumpError",
-#     # ROS
-#     "RosClient",
-#     "RosError",
-#     "RosValidationError",
-#     "RosFileServerLoader",
-#     "MoveItPlanner",
-#     # Analytic IK
-#     "AnalyticalInverseKinematics",
-#     "AnalyticalPlanCartesianMotion",
-#     "AnalyticalPyBulletPlanner",
-#     "AnalyticalKinematicsPlanner",
-#     "OffsetWristKinematics",
-#     "SphericalWristKinematics",
-#     "CartesianMotionError",
-#     # Robot-specific analytic IK
-#     "UR3Kinematics",
-#     "UR3eKinematics",
-#     "UR5Kinematics",
-#     "UR5eKinematics",
-#     "UR10Kinematics",
-#     "UR10eKinematics",
-#     "Staubli_TX260LKinematics",
-#     "ABB_IRB4600_40_255Kinematics",
-# ]
-
-# if not compas.IPY:
-#     __all__ += [
-#         "PyBulletClient",
-#         "PyBulletError",
-#         "PyBulletPlanner",
-#         "AnalyticalPyBulletClient",
-#     ]
+__all__ = [
+    # Exceptions
+    "BackendError",
+    "BackendFeatureNotSupportedError",
+    "BackendTargetNotSupportedError",
+    "TargetModeMismatchError",
+    "PlanningGroupNotExistsError",
+    "InverseKinematicsError",
+    "KinematicsError",
+    "CollisionCheckError",
+    "MotionPlanningError",
+    "MPStartStateInCollisionError",
+    "MPTargetInCollisionError",
+    "MPInterpolationInCollisionError",
+    "MPSearchTimeOutError",
+    "MPNoIKSolutionError",
+    "MPNoPlanFoundError",
+    "MPMaxJumpError",
+    # Tasks
+    "FutureResult",
+    "CancellableFutureResult",
+    # ROS
+    "RosClient",
+    "RosError",
+    "RosValidationError",
+    "RosFileServerLoader",
+    "MoveItPlanner",
+    # Kinematics
+    "AnalyticalInverseKinematics",
+    "AnalyticalPlanCartesianMotion",
+    "AnalyticalPyBulletPlanner",
+    "AnalyticalKinematicsPlanner",
+    "OffsetWristKinematics",
+    "SphericalWristKinematics",
+    "CartesianMotionError",
+    # Kinematics - Robot-specific analytic IK
+    "UR3Kinematics",
+    "UR3eKinematics",
+    "UR5Kinematics",
+    "UR5eKinematics",
+    "UR10Kinematics",
+    "UR10eKinematics",
+    "Staubli_TX260LKinematics",
+    "ABB_IRB4600_40_255Kinematics",
+]
+
+# PyBullet
+if not compas.IPY:
+    __all__ += [
+        "PyBulletClient",
+        "PyBulletError",
+        "PyBulletPlanner",
+        "AnalyticalPyBulletClient",
+        "PlanningGroupNotSupported",
+    ]

src/compas_fab/backends/interfaces/client.py

@@ -4,14 +4,14 @@
 
 import compas
 
-from compas_fab.robots import RobotCell
-from compas_fab.robots import RobotCellState
 
 if compas.IPY:
     from typing import TYPE_CHECKING
 
     if TYPE_CHECKING:
-        from compas_fab.robots import Robot
+        from compas_fab.robots import Robot  # noqa: F401
+        from compas_fab.robots import RobotCell  # noqa: F401
+        from compas_fab.robots import RobotCellState  # noqa: F401
 
 
 class ClientInterface(object):

src/compas_fab/backends/interfaces/planner.py

@@ -16,17 +16,9 @@
     from typing import TYPE_CHECKING
 
     if TYPE_CHECKING:
-        from compas_fab.robots import Robot
-        from compas_fab.robots import RobotCell
-        from compas_fab.robots import RobotCellState
-        from compas_fab.robots import Target
-        from compas_fab.robots import Waypoints
-
-        from compas_fab.backends.interfaces import ClientInterface
-
-        from typing import List
-        from typing import Optional
-        from compas.geometry import Frame
+        from typing import List  # noqa: F401
+        from compas_fab.robots import RobotCellState  # noqa: F401
+        from compas_fab.backends.interfaces import ClientInterface  # noqa: F401
 
 
 class PlannerInterface(object):

src/compas_fab/backends/kinematics/backend_features/analytical_forward_kinematics.py

@@ -1,4 +1,3 @@
-from compas_fab.backends.exceptions import BackendError
 from compas_fab.backends.interfaces import ForwardKinematics
 
 
@@ -12,8 +11,8 @@
         from compas_fab.robots import RobotCellState  # noqa: F401
         from compas_fab.robots import Robot  # noqa: F401
         from compas_fab.robots import TargetMode  # noqa: F401
-        from compas.geometry import Frame
-        from typing import Dict, List, Optional, Tuple  # noqa: F401
+        from compas.geometry import Frame  # noqa: F401
+        from typing import Optional  # noqa: F401
 
 
 class AnalyticalForwardKinematics(ForwardKinematics):

src/compas_fab/backends/kinematics/backend_features/analytical_inverse_kinematics.py

@@ -1,4 +1,3 @@
-from compas_fab.backends.exceptions import BackendError
 from compas_fab.backends.exceptions import BackendTargetNotSupportedError
 from compas_fab.backends.exceptions import InverseKinematicsError
 from compas_fab.backends.interfaces import InverseKinematics
@@ -16,7 +15,8 @@
         from compas_fab.robots import RobotCellState  # noqa: F401
         from compas_fab.robots import Robot  # noqa: F401
         from compas_fab.robots import Target  # noqa: F401
-        from typing import Dict, List, Optional, Tuple  # noqa: F401
+        from typing import Dict  # noqa: F401
+        from typing import Optional  # noqa: F401
         from typing import Generator  # noqa: F401
 
 from ..utils import joint_angles_to_configurations

src/compas_fab/backends/kinematics/backend_features/analytical_plan_cartesian_motion.py

@@ -9,7 +9,6 @@
 from compas_fab.robots import JointTrajectoryPoint
 from compas_fab.robots import FrameWaypoints
 from compas_fab.robots import PointAxisWaypoints
-from compas_fab.utilities import from_tcf_to_t0cf
 
 
 class AnalyticalPlanCartesianMotion(PlanCartesianMotion):

src/compas_fab/backends/kinematics/backend_features/analytical_pybullet_inverse_kinematics.py

@@ -12,17 +12,15 @@
         from compas_fab.robots import Robot  # noqa: F401
         from compas_fab.robots import Target  # noqa: F401
         from typing import Generator  # noqa: F401
-        from typing import Dict, List, Optional, Tuple  # noqa: F401
+        from compas_robots import Configuration  # noqa: F401
+        from typing import Dict  # noqa: F401
+        from typing import Optional  # noqa: F401
         from compas_fab.backends import PyBulletClient  # noqa: F401
 
-from compas_robots import Configuration
 
 from compas_fab.backends import CollisionCheckError
 from compas_fab.robots import FrameTarget
 
-from ..utils import joint_angles_to_configurations
-from ..utils import try_to_fit_configurations_between_bounds
-
 
 class AnalyticalPybulletInverseKinematics(AnalyticalInverseKinematics):
     """Callable to calculate the robot's inverse kinematics for a given frame.
@@ -73,7 +71,7 @@ def iter_inverse_kinematics_frame_target(self, target, start_state, group, optio
 
         options = options or {}
         planner = self  # type: AnalyticalPyBulletPlanner
-        robot = planner.client.robot_cell.robot  # type: Robot
+        robot = planner.client.robot_cell.robot  # type: Robot  # noqa: F841
         client = self.client  # type: PyBulletClient
 
         # Set robot cell state to start state if provided
@@ -102,7 +100,7 @@ def iter_inverse_kinematics_frame_target(self, target, start_state, group, optio
                     client.set_robot_configuration(configuration)
                     # Passing the `_skip_set_robot_cell_state` option to the collision check function
                     planner.check_collision(None, options={"_skip_set_robot_cell_state": True})
-                except CollisionCheckError as e:
+                except CollisionCheckError:
                     # If keep order is true, yield a None to keep the order of the solutions
                     if options.get("keep_order", True):
                         yield None

src/compas_fab/backends/kinematics/backend_features/analytical_set_robot_cell_state.py

@@ -1,26 +1,13 @@
-from compas_fab.backends.interfaces import SetRobotCellState
-
 import compas
-from compas.geometry import Frame
+
+from compas_fab.backends.interfaces import SetRobotCellState
 
 if not compas.IPY:
     from typing import TYPE_CHECKING
 
     if TYPE_CHECKING:
-        from typing import Optional  # noqa: F401
-        from typing import Dict  # noqa: F401
-        from typing import List  # noqa: F401
-        from typing import Tuple  # noqa: F401
-
-        from compas_fab.robots import Robot  # noqa: F401
-        from compas_robots import Configuration  # noqa: F401
-        from compas.geometry import Frame  # noqa: F401
-        from compas_fab.backends.interfaces import ClientInterface  # noqa: F401
-        from compas_fab.robots import RobotCell  # noqa: F401
-        from compas_fab.robots import RobotCellState  # noqa: F401
-        from compas_fab.backends import PyBulletClient  # noqa: F401
 
-from compas_fab.backends.pybullet.const import STATIC_MASS
+        from compas_fab.robots import RobotCellState  # noqa: F401
 
 
 class AnalyticalSetRobotCellState(SetRobotCellState):

src/compas_fab/backends/kinematics/planner.py

@@ -1,18 +1,26 @@
-import compas
-from compas_fab.backends.interfaces.planner import PlannerInterface
-
-from compas_fab.backends.pybullet.backend_features import *
-from compas_fab.backends.kinematics.backend_features import *
-from compas_fab.backends.kinematics.solvers import *
-
-from compas_fab.backends.kinematics.client import AnalyticalKinematicsClient  # noqa: F401
-from compas_fab.backends.pybullet.client import PyBulletClient  # noqa: F401
+from compas import IPY
 
-if compas.IPY:
+from compas_fab.backends.interfaces.planner import PlannerInterface
+from compas_fab.backends.kinematics.backend_features import AnalyticalForwardKinematics
+from compas_fab.backends.kinematics.backend_features import AnalyticalInverseKinematics
+from compas_fab.backends.kinematics.backend_features import AnalyticalPlanCartesianMotion
+from compas_fab.backends.kinematics.backend_features import AnalyticalPybulletInverseKinematics
+from compas_fab.backends.kinematics.backend_features import AnalyticalSetRobotCell
+from compas_fab.backends.kinematics.backend_features import AnalyticalSetRobotCellState
+from compas_fab.backends.kinematics.client import AnalyticalKinematicsClient
+from compas_fab.backends.pybullet.backend_features import PyBulletCheckCollision
+from compas_fab.backends.pybullet.backend_features import PyBulletForwardKinematics
+from compas_fab.backends.pybullet.backend_features import PyBulletSetRobotCell
+from compas_fab.backends.pybullet.backend_features import PyBulletSetRobotCellState
+
+if IPY:
     from typing import TYPE_CHECKING
 
     if TYPE_CHECKING:
-        from typing import Optional
+        from typing import Optional  # noqa: F401
+
+        from compas_fab.backends.kinematics.solvers import AnalyticalKinematics  # noqa: F401
+        from compas_fab.backends.pybullet.client import PyBulletClient  # noqa: F401
 
 __all__ = [
     "AnalyticalPyBulletPlanner",

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

@@ -1,4 +1,3 @@
-from .analytical_kinematics import AnalyticalKinematics  # noqa: F403
 from .spherical_wrist_kinematics import *  # noqa: F403
 from .offset_wrist_kinematics import *  # noqa: F403
 

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

@@ -1,6 +1,13 @@
-from compas.geometry import Frame
+from compas import IPY
 
-from typing import List, Optional
+if IPY:
+    from typing import TYPE_CHECKING
+
+    if TYPE_CHECKING:
+        from typing import List  # noqa: F401
+        from typing import Optional  # noqa: F401
+
+        from compas.geometry import Frame  # noqa: F401
 
 
 class AnalyticalKinematics(object):

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

@@ -7,11 +7,16 @@
 from math import sin
 from math import sqrt
 
+from compas import IPY
 from compas.geometry import Frame
 
 from compas_fab.utilities import sign
 
-from typing import List
+if IPY:
+    from typing import TYPE_CHECKING
+
+    if TYPE_CHECKING:
+        from typing import List  # noqa: F401
 
 
 def forward_kinematics_offset_wrist(joint_values, params):