From ccf061e51d299e464c2237254d9dcc1b08900531 Mon Sep 17 00:00:00 2001
From: Carlotta <carlotta.sartore@iit.it>
Date: Thu, 18 Apr 2024 18:38:30 +0200
Subject: [PATCH] balck formatting

---
 src/adam/casadi/computations.py               |  2 +-
 src/adam/model/std_factories/std_model.py     | 26 ++++++++++---------
 .../parametric_factories/parametric_link.py   |  4 +--
 3 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/src/adam/casadi/computations.py b/src/adam/casadi/computations.py
index 6b3c9836..ca7a9e8d 100644
--- a/src/adam/casadi/computations.py
+++ b/src/adam/casadi/computations.py
@@ -27,7 +27,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): either path or string of the urdf 
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
diff --git a/src/adam/model/std_factories/std_model.py b/src/adam/model/std_factories/std_model.py
index 0555159e..11f81e55 100644
--- a/src/adam/model/std_factories/std_model.py
+++ b/src/adam/model/std_factories/std_model.py
@@ -1,7 +1,7 @@
 import pathlib
 from typing import List
 import xml.etree.ElementTree as ET
-import os 
+import os
 import urdf_parser_py.urdf
 
 from adam.core.spatial_math import SpatialMath
@@ -34,12 +34,12 @@ def __init__(self, urdf_string: str, math: SpatialMath):
         self.math = math
         isPath = False
         isUrdf = False
-        # Checking if it is a path or an urdf 
-        if(type(urdf_string) is not(pathlib.Path)):
-            if(os.path.exists(urdf_string)):
+        # Checking if it is a path or an urdf
+        if type(urdf_string) is not (pathlib.Path):
+            if os.path.exists(urdf_string):
                 urdf_string = pathlib.Path(urdf_string)
-                isPath= True
-            else: 
+                isPath = True
+            else:
                 root = ET.fromstring(urdf_string)
                 robot_el = None
                 for elem in root.iter():
@@ -50,16 +50,18 @@ def __init__(self, urdf_string: str, math: SpatialMath):
         elif urdf_string.exists():
             isPath = True
 
-        if(not(isPath) and not(isUrdf)): 
-            raise ValueError(f"Invalid urdf string: {urdf_string}. It is neither a path nor a urdf string")
-        
-        if(isPath):
-            if(not(urdf_string.exists())):
+        if not (isPath) and not (isUrdf):
+            raise ValueError(
+                f"Invalid urdf string: {urdf_string}. It is neither a path nor a urdf string"
+            )
+
+        if isPath:
+            if not (urdf_string.exists()):
                 raise FileExistsError(path)
             urdf_string = pathlib.Path(urdf_string)
             xml_file = open(urdf_string, "r")
             xml_string = xml_file.read()
-            xml_file.close() 
+            xml_file.close()
         # Read URDF, but before passing it to urdf_parser_py get rid of all sensor tags
         # sensor tags are valid elements of URDF (see ),
         # but they are ignored by urdf_parser_py, that complains every time it sees one.
diff --git a/src/adam/parametric/model/parametric_factories/parametric_link.py b/src/adam/parametric/model/parametric_factories/parametric_link.py
index c9ae02be..cfdf729f 100644
--- a/src/adam/parametric/model/parametric_factories/parametric_link.py
+++ b/src/adam/parametric/model/parametric_factories/parametric_link.py
@@ -162,7 +162,7 @@ def compute_volume(self, length_multiplier):
             volume = math.pi * visual_data_new[1] ** 2 * visual_data_new[0]
         elif self.geometry_type == Geometry.SPHERE:
             visual_data_new = self.visual_data.radius * length_multiplier
-            volume = 4 * math.pi * visual_data_new**3 / 3
+            volume = 4 * math.pi * visual_data_new ** 3 / 3
         return volume, visual_data_new
 
     def compute_mass(self):
@@ -235,7 +235,7 @@ def compute_inertia_parametric(self):
                 I.izz = I.iyy
             return I
         elif self.geometry_type == Geometry.SPHERE:
-            I.ixx = 2 * self.mass * self.visual_data_new**2 / 5
+            I.ixx = 2 * self.mass * self.visual_data_new ** 2 / 5
             I.iyy = I.ixx
             I.izz = I.ixx
         return I