auto-format python code with black

This commit is contained in:
Robert Haschke 2021-03-16 18:39:18 +01:00
parent 10adb63f4a
commit fd25a0626a
4 changed files with 22 additions and 21 deletions

View File

@ -42,14 +42,12 @@ class Test(unittest.TestCase):
def test_Merger(self): def test_Merger(self):
cartesian = core.CartesianPath() cartesian = core.CartesianPath()
def createDisplacement(group, displacement): def createDisplacement(group, displacement):
move = stages.MoveRelative("displace", cartesian) move = stages.MoveRelative("displace", cartesian)
move.group = group move.group = group
move.ik_frame = PoseStamped(header=Header(frame_id="tool0")) move.ik_frame = PoseStamped(header=Header(frame_id="tool0"))
dir = Vector3Stamped( dir = Vector3Stamped(header=Header(frame_id="base_link"), vector=Vector3(*displacement))
header = Header(frame_id = "base_link"),
vector = Vector3(*displacement)
)
move.setDirection(dir) move.setDirection(dir)
move.restrictDirection(stages.MoveRelative.Direction.FORWARD) move.restrictDirection(stages.MoveRelative.Direction.FORWARD)
return move return move
@ -67,6 +65,6 @@ class Test(unittest.TestCase):
task.publish(task.solutions[0]) task.publish(task.solutions[0])
if __name__ == '__main__': if __name__ == "__main__":
roscpp_init("test_mtc") roscpp_init("test_mtc")
rostest.rosrun("", "", Test) rostest.rosrun("", "", Test)

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@ -143,9 +143,11 @@ class TestStages(unittest.TestCase):
except TypeError as e: except TypeError as e:
pass pass
except: except:
self.fail("Assigning {} did raise wrong exception: {}".format(value, sys.exc_info()[0])) msg = "Assigning {} did raise wrong exception: {}"
self.fail(msg.format(value, sys.exc_info()[0]))
else: else:
self.fail("Assigning {} did not raise an exception, result: {}".format(value, getattr(stage, name))) msg = "Assigning {} did not raise an exception, result: {}"
self.fail(msg.format(value, getattr(stage, name)))
def test_CurrentState(self): def test_CurrentState(self):
stage = stages.CurrentState("current") stage = stages.CurrentState("current")
@ -194,7 +196,7 @@ class TestStages(unittest.TestCase):
self._check(stage, "path_constraints", Constraints()) self._check(stage, "path_constraints", Constraints())
stage.setDirection(TwistStamped()) stage.setDirection(TwistStamped())
stage.setDirection(Vector3Stamped()) stage.setDirection(Vector3Stamped())
stage.setDirection({'joint': 0.1}) stage.setDirection({"joint": 0.1})
def test_Connect(self): def test_Connect(self):
planner = core.PipelinePlanner() planner = core.PipelinePlanner()
@ -290,5 +292,5 @@ class TestTask(unittest.TestCase):
task.add(stages.FixedState()) task.add(stages.FixedState())
if __name__ == '__main__': if __name__ == "__main__":
unittest.main() unittest.main()

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@ -5,8 +5,8 @@ from catkin_pkg.python_setup import generate_distutils_setup
d = generate_distutils_setup( d = generate_distutils_setup(
# list of packages to setup # list of packages to setup
packages = ['moveit', 'moveit.python_tools', 'moveit.task_constructor'], packages=["moveit", "moveit.python_tools", "moveit.task_constructor"],
# specify location of root ('') package dir # specify location of root ("") package dir
package_dir = {'' : 'python/src'} package_dir={"": "python/src"},
) )
setup(**d) setup(**d)

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@ -8,6 +8,7 @@ from math import pi
import time import time
from moveit.python_tools import roscpp_init from moveit.python_tools import roscpp_init
roscpp_init("mtc_tutorial") roscpp_init("mtc_tutorial")
group = "panda_arm" group = "panda_arm"
@ -38,7 +39,7 @@ task.add(move)
# rotate about z # rotate about z
move = stages.MoveRelative("rz +45°", cartesian) move = stages.MoveRelative("rz +45°", cartesian)
move.group = group move.group = group
move.setDirection(TwistStamped(header=header, twist=Twist(angular=Vector3(0,0,pi/4.)))) move.setDirection(TwistStamped(header=header, twist=Twist(angular=Vector3(0, 0, pi / 4.0))))
task.add(move) task.add(move)
# Cartesian motion, defined as joint-space offset # Cartesian motion, defined as joint-space offset