More move to less ipy

Author: gonzalocasas

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

@@ -7,20 +7,12 @@
 from math import sin
 from math import sqrt
 
-from compas import IPY
 from compas.geometry import Frame
 
 from compas_fab.utilities import sign
 
-if not IPY:
-    from typing import TYPE_CHECKING
 
-    if TYPE_CHECKING:  # pragma: no cover
-        from typing import List  # noqa: F401
-
-
-def forward_kinematics_offset_wrist(joint_values, params):
-    # type: (List[float], List[float]) -> Frame
+def forward_kinematics_offset_wrist(joint_values : list[float], params : list[float]) -> Frame:
     """Forward kinematics function for offset wrist 6-axis robots.
 
     Parameters
@@ -73,8 +65,7 @@ def forward_kinematics_offset_wrist(joint_values, params):
     return frame
 
 
-def inverse_kinematics_offset_wrist(frame, params, q6_des=0.0):
-    # type: (Frame, List[float], float) -> List[List[float]]
+def inverse_kinematics_offset_wrist(frame : Frame, params : list[float], q6_des : float = 0.0) -> list[list[float]]:
     """Inverse kinematics function for offset wrist 6-axis robots.
 
     Parameters

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

@@ -1,17 +1,9 @@
-from compas import IPY
+from compas.geometry import Frame
 
 from .analytical_kinematics import AnalyticalKinematics
 from .offset_wrist import forward_kinematics_offset_wrist
 from .offset_wrist import inverse_kinematics_offset_wrist
 
-if not IPY:
-    from typing import TYPE_CHECKING
-
-    if TYPE_CHECKING:  # pragma: no cover
-        from typing import List  # noqa: F401
-
-        from compas.geometry import Frame  # noqa: F401
-
 # The following parameters for UR robots are taken from the following website:
 # https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
 
@@ -78,12 +70,10 @@ def __init__(self, params):
         super(OffsetWristKinematics, self).__init__()
         self.params = params
 
-    def forward(self, joint_values):
-        # type: (List[float]) -> Frame
+    def forward(self, joint_values : list[float]) -> Frame:
         return forward_kinematics_offset_wrist(joint_values, self.params)
 
-    def inverse(self, frame_rcf):
-        # type: (Frame) -> List[List[float]]
+    def inverse(self, frame_rcf : Frame) -> list[list[float]]:
         return inverse_kinematics_offset_wrist(frame_rcf, self.params)