Remove unused imports

Author: jhavl

roboticstoolbox/robot/RobotProto.py

@@ -1,92 +1,74 @@
-import numpy as np
 from roboticstoolbox.tools.types import ArrayLike, NDArray
-
-from typing import Any, Callable, Generic, List, Set, TypeVar, Union, Dict, Tuple, Type
+from typing import Any, Callable, List, Union, Dict
 from typing_extensions import Protocol, Self
 
 from roboticstoolbox.robot.Link import Link, BaseLink
 from roboticstoolbox.robot.Gripper import Gripper
 from roboticstoolbox.robot.ETS import ETS
 from spatialmath import SE3
-import roboticstoolbox as rtb
 
 
 class KinematicsProtocol(Protocol):
     @property
-    def _T(self) -> NDArray:
-        ...
+    def _T(self) -> NDArray: ...
 
     def ets(
         self,
         start: Union[Link, Gripper, str, None] = None,
         end: Union[Link, Gripper, str, None] = None,
-    ) -> ETS:
-        ...
+    ) -> ETS: ...
 
 
 class RobotProto(Protocol):
     @property
-    def links(self) -> List[BaseLink]:
-        ...
+    def links(self) -> List[BaseLink]: ...
 
     @property
-    def n(self) -> int:
-        ...
+    def n(self) -> int: ...
 
     @property
-    def q(self) -> NDArray:
-        ...
+    def q(self) -> NDArray: ...
 
     @property
-    def name(self) -> str:
-        ...
+    def name(self) -> str: ...
 
     @name.setter
-    def name(self, new_name: str):
-        ...
+    def name(self, new_name: str): ...
 
     @property
-    def gravity(self) -> NDArray:
-        ...
+    def gravity(self) -> NDArray: ...
 
-    def dynchanged(self):
-        ...
+    def dynchanged(self): ...
 
     def jacobe(
         self,
         q: ArrayLike,
         end: Union[str, BaseLink, Gripper, None] = None,
         start: Union[str, BaseLink, Gripper, None] = None,
         tool: Union[NDArray, SE3, None] = None,
-    ) -> NDArray:
-        ...
+    ) -> NDArray: ...
 
     def jacob0(
         self,
         q: ArrayLike,
         end: Union[str, BaseLink, Gripper, None] = None,
         start: Union[str, BaseLink, Gripper, None] = None,
         tool: Union[NDArray, SE3, None] = None,
-    ) -> NDArray:
-        ...
+    ) -> NDArray: ...
 
-    def copy(self) -> Self:
-        ...
+    def copy(self) -> Self: ...
 
-    def accel(self, q, qd, torque, gravity=None) -> NDArray:
-        ...
+    def accel(self, q, qd, torque, gravity=None) -> NDArray: ...
 
-    def nofriction(self, coulomb: bool, viscous: bool) -> Self:
-        ...
+    def nofriction(self, coulomb: bool, viscous: bool) -> Self: ...
 
     def _fdyn(
         self,
         t: float,
         x: NDArray,
         torqfun: Callable[[Any], NDArray],
         targs: Dict,
-    ) -> NDArray:
-        ...
+    ) -> NDArray: ...
 
     def rne(
         self,
@@ -95,19 +77,16 @@ def rne(
         qdd: NDArray,
         symbolic: bool = False,
         gravity: Union[None, ArrayLike] = None,
-    ) -> NDArray:
-        ...
+    ) -> NDArray: ...
 
     def gravload(
         self, q: Union[None, ArrayLike] = None, gravity: Union[None, ArrayLike] = None
-    ):
-        ...
+    ): ...
 
     def pay(
         self,
         W: ArrayLike,
         q: Union[NDArray, None] = None,
         J: Union[NDArray, None] = None,
         frame: int = 1,
-    ):
-        ...
+    ): ...