Aplly black formatter

Author: Jepear19

CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/build_world.py

@@ -31,8 +31,7 @@
 
 def build_world(name, markers):
     world_file = open(name, "w")
-    world_file.write(
-        """<?xml version="1.0"?>
+    world_file.write("""<?xml version="1.0"?>
 
 <sdf version="1.6">
   <world name="default">
@@ -54,50 +53,41 @@ def build_world(name, markers):
     </include>
 
     <!-- ArUco markers -->
-"""
-    )
+""")
     for marker in markers:
-        world_file.write(
-            f"""    <model name="marker{marker[0]}">
+        world_file.write(f"""    <model name="marker{marker[0]}">
       <include>
         <static>true</static>
         <uri>model://marker_{marker[0]}</uri>
       </include>
       <pose>{marker[1]} {marker[2]} {marker[3]} {marker[4]} {marker[5]} {marker[6]}</pose>
     </model>
-"""
-        )
-    world_file.write(
-        """
+""")
+    world_file.write("""
   </world>
-</sdf>"""
-    )
+</sdf>""")
     world_file.close()
 
 
 def build_map(name, markers):
     map_file = open(name, "w")
-    map_file.write(
-        """# Map for orca.world
+    map_file.write("""# Map for orca.world
 # All marker locations are fixed (f: 1)
 
 marker_length: 0.1778
 markers:
-"""
-    )
+""")
     for marker in markers:
         t_marker_world = xf.euler_matrix(marker[4], marker[5], marker[6])
         t_marker_map = t_marker_world @ t_world_map
         r_marker_map = xf.euler_from_matrix(t_marker_map)
 
-        map_file.write(
-            f"""  - id: {marker[0]}
+        map_file.write(f"""  - id: {marker[0]}
     u: 1
     f: 1
     xyz: [{marker[1]}, {marker[2]}, {marker[3]}]
     rpy: [{r_marker_map[0]}, {r_marker_map[1]}, {r_marker_map[2]}]
-"""
-        )
+""")
     map_file.close()
 
 

Launchers/machine_vision_harmonic/execution.launch.py

@@ -27,7 +27,7 @@ def generate_launch_description():
     xacro_file = os.path.join(
         get_package_share_directory("ros2srrc_ur5_gazebo"),
         "urdf",
-        "ur5_robotiq_2f85_with_cams.urdf.xacro"
+        "ur5_robotiq_2f85_with_cams.urdf.xacro",
     )
 
     pkg_share_dir = get_package_share_directory("ur5_gripper_description")

Launchers/machine_vision_harmonic/robot.launch.py

@@ -33,16 +33,10 @@ def generate_launch_description():
     pkg_gazebo = get_package_share_directory("ros2srrc_ur5_gazebo")
 
     xacro_file = os.path.join(
-        pkg_gazebo,
-        "urdf",
-        "ur5_robotiq_2f85_with_cams.urdf.xacro"
+        pkg_gazebo, "urdf", "ur5_robotiq_2f85_with_cams.urdf.xacro"
     )
 
-    controllers_file = os.path.join(
-        pkg_desc,
-        "config",
-        "ur5_controllers.yaml"
-    )
+    controllers_file = os.path.join(pkg_desc, "config", "ur5_controllers.yaml")
 
     # =========================
     # ROBOT DESCRIPTION
@@ -76,9 +70,7 @@ def generate_launch_description():
         )
     }
 
-    kinematics_yaml = load_yaml(
-        "ur5_gripper_moveit_config", "config/kinematics.yaml"
-    )
+    kinematics_yaml = load_yaml("ur5_gripper_moveit_config", "config/kinematics.yaml")
     kinematics_yaml = {
         "robot_description_kinematics": kinematics_yaml["/**"]["ros__parameters"]
     }
@@ -109,9 +101,7 @@ def generate_launch_description():
         "ros2srrc_robots", "ur5/config/pilz_cartesian_limits.yaml"
     )
 
-    joint_limits_yaml = load_yaml(
-        "ros2srrc_robots", "ur5/config/joint_limits.yaml"
-    )
+    joint_limits_yaml = load_yaml("ros2srrc_robots", "ur5/config/joint_limits.yaml")
 
     combined_planning = {
         "robot_description_planning": {
@@ -174,7 +164,6 @@ def generate_launch_description():
             "/hand_camera/image@sensor_msgs/msg/Image@gz.msgs.Image",
             "/hand_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image",
             "/hand_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
-
             "/base_camera/image@sensor_msgs/msg/Image@gz.msgs.Image",
             "/base_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image",
             "/base_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
@@ -228,14 +217,16 @@ def generate_launch_description():
     # LAUNCH
     # =========================
 
-    return LaunchDescription([
-        clock_bridge,
-        camera_bridge,
-        robot_state_publisher,
-        static_tf,
-        spawn_entity,
-        joint_state_broadcaster,
-        joint_trajectory_controller,
-        gripper_controller,
-        move_group,
-    ])
+    return LaunchDescription(
+        [
+            clock_bridge,
+            camera_bridge,
+            robot_state_publisher,
+            static_tf,
+            spawn_entity,
+            joint_state_broadcaster,
+            joint_trajectory_controller,
+            gripper_controller,
+            move_group,
+        ]
+    )

Launchers/machine_vision_harmonic/world.launch.py

@@ -25,7 +25,7 @@ def generate_launch_description():
     # PATHS
     # =========================
 
-    world_path = "/opt/jderobot/Worlds/machine_vision_harmonic.world"   
+    world_path = "/opt/jderobot/Worlds/machine_vision_harmonic.world"
 
     gazebo_models_path = os.path.join(package_dir, "models")
 
@@ -37,10 +37,13 @@ def generate_launch_description():
     custom_models_path = "/home/dev_ws/src/IndustrialRobots/ros2_SimRealRobotControl/packages/ur5/ros2srrc_ur5_gazebo/models"
 
     resource_path = (
-        ur5_share_parent + ":" +
-        robotiq_share_parent + ":" +
-        warehouse_models_path + ":" +
-        custom_models_path
+        ur5_share_parent
+        + ":"
+        + robotiq_share_parent
+        + ":"
+        + warehouse_models_path
+        + ":"
+        + custom_models_path
     )
 
     gazebo = ExecuteProcess(
@@ -57,8 +60,10 @@ def generate_launch_description():
         SetEnvironmentVariable(
             name="LD_LIBRARY_PATH",
             value=(
-                gz_lib_path + ":"
-                + gz_link_attacher_lib + ":"
+                gz_lib_path
+                + ":"
+                + gz_link_attacher_lib
+                + ":"
                 + "/home/ws/install/lib:"
                 + "/home/ws/install/linkattacher_msgs/lib:"
                 + "/opt/ros/humble/lib:"
@@ -73,8 +78,10 @@ def generate_launch_description():
             value=(
                 "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins:"
                 "/usr/lib/x86_64-linux-gnu/gz-sim-8/systems:"
-                + gz_lib_path + ":"
-                + gz_link_attacher_lib + ":"
+                + gz_lib_path
+                + ":"
+                + gz_link_attacher_lib
+                + ":"
                 + "/opt/ros/humble/lib"
             ),
         )
@@ -89,4 +96,4 @@ def generate_launch_description():
 
     ld.add_action(gazebo)
 
-    return ld
+    return ld