Prettify

Author: IsabelParedes

src/factory.ts

@@ -13,7 +13,6 @@ export class UrdfWidgetFactory extends ABCWidgetFactory<
   UrdfWidget,
   DocumentModel
 > {
-
   constructor(options: DocumentRegistry.IWidgetFactoryOptions) {
     super(options);
   }
@@ -27,4 +26,4 @@ export class UrdfWidgetFactory extends ABCWidgetFactory<
       content: new UrdfPanel(context)
     });
   }
-}
+}

src/icons.ts

@@ -1,9 +1,8 @@
-
 import { LabIcon } from '@jupyterlab/ui-components';
 
 import urdf_logo from '/style/icons/urdf_logo.svg';
 
 export const urdf_icon = new LabIcon({
   name: 'urdf:icon/logo',
   svgstr: urdf_logo
-});
+});

src/index.ts

@@ -53,7 +53,7 @@ const extension: JupyterFrontEndPlugin<void> = {
     restorer: ILayoutRestorer,
     browserFactory: IFileBrowserFactory,
     menu: IMainMenu,
-    launcher: ILauncher,
+    launcher: ILauncher
   ) => {
     console.log('JupyterLab extension URDF is activated!');
     const { commands } = app;
@@ -101,7 +101,7 @@ const extension: JupyterFrontEndPlugin<void> = {
       iconClass: 'jp-URDFIcon',
       fileFormat: 'text',
       contentType: 'file',
-      icon: urdf_icon,
+      icon: urdf_icon
     });
 
     // Add command for creating new urdf (file)

src/layout.ts

@@ -10,7 +10,7 @@ import dat from 'dat.gui';
 // Modify URLs for the RobotModel:
 //https://github.com/RoboStack/amphion/blob/879045327e879d0bb6fe2c8eac54664de46ef675/src/core/urdf.ts#L22
 DefaultLoadingManager.setURLModifier(url => {
-  console.debug("THREE MANAGER:", url);
+  console.debug('THREE MANAGER:', url);
   return '/ros/pkgs' + url;
 });
 
@@ -69,13 +69,12 @@ export class URDFLayout extends PanelLayout {
   }
 
   setURDF(data: string): void {
-
     // Load robot model
     if (this._robotModel !== null) {
       // Remove old robot model from visualization
       // Viewer -> Scene -> Group -> Robot Model
-      this._robotModel.object.parent.remove( this._robotModel.object );
-    };
+      this._robotModel.object.parent.remove(this._robotModel.object);
+    }
 
     // https://github.com/RoboStack/amphion/blob/879045327e879d0bb6fe2c8eac54664de46ef675/src/core/urdf.ts#L46
     const ros = new ROSLIB.Ros();
@@ -84,16 +83,16 @@ export class URDFLayout extends PanelLayout {
     this._viewer.addVisualization(this._robotModel);
 
     // Create controller  panel
-    this.setGUI();    
+    this.setGUI();
   }
 
   /**
    * Create a GUI to set the joint angles / positions
    */
   setGUI(): void {
-    this._gui = new dat.GUI({ 
+    this._gui = new dat.GUI({
       width: 310,
-      autoPlace: false,
+      autoPlace: false
     });
 
     // Adjust position so that it's attached to viewer
@@ -108,16 +107,14 @@ export class URDFLayout extends PanelLayout {
 
     // Create new folder for the joints
     this._gui.addFolder('Robot Joints').open();
-    Object.keys(this._robotModel.urdfObject.joints).forEach(
-      (jointName) => {
-        this.createJointSlider(jointName);
-      }
-    );
+    Object.keys(this._robotModel.urdfObject.joints).forEach(jointName => {
+      this.createJointSlider(jointName);
+    });
   }
 
-  /** 
+  /**
    * Set angle for revolute joints
-   * 
+   *
    * @param jointName - The name of the joint to be set
    */
   setJointAngle(jointName: string, newAngle: number): void {
@@ -126,52 +123,46 @@ export class URDFLayout extends PanelLayout {
 
   /**
    * Creates a slider for each movable joint
-   * 
+   *
    * @param jointName - Name of joint as string
    */
   createJointSlider(jointName: string): void {
     // Retrieve joint
-    const joint = this._robotModel.urdfObject.joints[ jointName ];
+    const joint = this._robotModel.urdfObject.joints[jointName];
 
     // Skip joints which should not be moved
     if (joint._jointType == 'fixed') {
-      return
-    };
+      return;
+    }
 
     // Obtain joint limits
     let limitMin = joint.limit.lower;
     let limitMax = joint.limit.upper;
 
     // If the limits are not defined, set defaults to +/- 180 degrees
-    if (( limitMin == 0 ) && ( limitMax == 0 )) {
-      limitMin = - Math.PI;
-      limitMax = + Math.PI;
-    };
+    if (limitMin == 0 && limitMax == 0) {
+      limitMin = -Math.PI;
+      limitMax = +Math.PI;
+    }
 
     // Step increments for slider
-    const stepSize = ( limitMax - limitMin ) / 20;
+    const stepSize = (limitMax - limitMin) / 20;
 
     // Initialize to the position given in URDF file
     const initValue = joint.jointValue;
 
     // Object to be manipulated
     let jointObject = { [jointName]: initValue };
-    
+
     // Add slider to GUI
-    this._gui.__folders['Robot Joints'].add(
-      jointObject,
-      jointName,
-      limitMin,
-      limitMax,
-      stepSize,
-    ).onChange(
-      (newAngle: any) => this.setJointAngle(jointName, newAngle)
-    );
+    this._gui.__folders['Robot Joints']
+      .add(jointObject, jointName, limitMin, limitMax, stepSize)
+      .onChange((newAngle: any) => this.setJointAngle(jointName, newAngle));
   }
 
   /**
    * Change the background color of the scene
-   * 
+   *
    * @param bgColor - The new background color as RGB array
    */
   setBGColor(bgColor: any): void {
@@ -184,18 +175,15 @@ export class URDFLayout extends PanelLayout {
    * Create color controller
    */
   createColorControl(): void {
-    const defaultColor = [ 240, 240, 240 ];
+    const defaultColor = [240, 240, 240];
 
     // Object to be manipulated
     let colorObject = { Background: defaultColor };
 
     // Add controller to GUI
-    this._gui.__folders['Scene'].addColor(
-      colorObject,
-      'Background',
-    ).onChange(
-      (newColor: any) => this.setBGColor(newColor)
-      );
+    this._gui.__folders['Scene']
+      .addColor(colorObject, 'Background')
+      .onChange((newColor: any) => this.setBGColor(newColor));
   }
 
   /**

src/svg.d.ts

@@ -8,6 +8,6 @@
 // The svg will be imported as a raw string
 
 declare module '*.svg' {
-    const value: string;
-    export default value;
-  }
+  const value: string;
+  export default value;
+}

src/types.ts

@@ -1,2 +1,2 @@
 declare module 'amphion';
-declare module 'roslib';
+declare module 'roslib';

src/widget.ts

@@ -40,14 +40,14 @@ export class UrdfPanel extends Panel {
    */
   constructor(context: DocumentRegistry.IContext<DocumentModel>) {
     super({ layout: new URDFLayout() });
-    
+
     this.addClass('jp-urdf-canvas'); // for css styling
     this._context = context;
 
     this._context.ready.then(value => {
       (this.layout as URDFLayout).setURDF(this._context.model.toString());
-      this._context.model.contentChanged.connect((sender, args)=>{
-        console.log("Model changed.", args);
+      this._context.model.contentChanged.connect((sender, args) => {
+        console.log('Model changed.', args);
         (this.layout as URDFLayout).setURDF(this._context.model.toString());
       });
     });
@@ -85,6 +85,5 @@ export class UrdfPanel extends Panel {
    *
    * @param event - Event on the widget
    */
-  public handleEvent(event: MouseEvent): void {
-  }
+  public handleEvent(event: MouseEvent): void {}
 }