diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 87f57c7..703581d 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -17,3 +17,7 @@ repos: rev: "v20.1.4" hooks: - id: clang-format + - repo: https://github.com/hhatto/autopep8 + rev: "v2.3.2" + hooks: + - id: autopep8 diff --git a/openarm_bimanual_bringup/launch/depth_camera.launch.py b/openarm_bimanual_bringup/launch/depth_camera.launch.py index 6bf18d3..9ea8caf 100644 --- a/openarm_bimanual_bringup/launch/depth_camera.launch.py +++ b/openarm_bimanual_bringup/launch/depth_camera.launch.py @@ -17,6 +17,7 @@ from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.substitutions import FindPackageShare + def generate_launch_description(): realsense_share_dir = FindPackageShare("realsense2_camera") rs_launch_path = [realsense_share_dir, "/launch/rs_launch.py"] diff --git a/openarm_bimanual_bringup/launch/start_teleop.launch.py b/openarm_bimanual_bringup/launch/start_teleop.launch.py index 0e055c6..5989f96 100644 --- a/openarm_bimanual_bringup/launch/start_teleop.launch.py +++ b/openarm_bimanual_bringup/launch/start_teleop.launch.py @@ -37,7 +37,8 @@ def generate_launch_description(): ) use_sim_time = LaunchConfiguration("use_sim_time") - use_sim_time_launch_arg = DeclareLaunchArgument(name="use_sim_time", default_value="false") + use_sim_time_launch_arg = DeclareLaunchArgument( + name="use_sim_time", default_value="false") robot_state_publisher_node = IncludeLaunchDescription( PythonLaunchDescriptionSource( @@ -54,14 +55,16 @@ def generate_launch_description(): launch_arguments=dict(use_sim_time=use_sim_time).items(), ) - robot_description_content = Command(["xacro ", LaunchConfiguration("model")]) + robot_description_content = Command( + ["xacro ", LaunchConfiguration("model")]) robot_description_param = { "robot_description": ParameterValue(robot_description_content, value_type=str) } controller_params = PathJoinSubstitution( - [FindPackageShare(package="openarm_bimanual_bringup"), "config", "controllers.yaml"] + [FindPackageShare(package="openarm_bimanual_bringup"), + "config", "controllers.yaml"] ) controller_manager = Node( @@ -70,7 +73,8 @@ def generate_launch_description(): parameters=[controller_params, robot_description_param], ) - delayed_controller_manager = TimerAction(period=3.0, actions=[controller_manager]) + delayed_controller_manager = TimerAction( + period=3.0, actions=[controller_manager]) joint_broadcaster_spawner = Node( package="controller_manager", diff --git a/openarm_bimanual_description/launch/description.launch.py b/openarm_bimanual_description/launch/description.launch.py index f738afb..3d9e77b 100644 --- a/openarm_bimanual_description/launch/description.launch.py +++ b/openarm_bimanual_description/launch/description.launch.py @@ -32,7 +32,8 @@ def generate_launch_description(): default_model_path = pkg_share / "urdf/openarm_bimanual.urdf.xacro" use_sim_time = LaunchConfiguration("use_sim_time") - use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true") + use_sim_time_launch_arg = DeclareLaunchArgument( + "use_sim_time", default_value="true") robot_state_publisher_node = launch_ros.actions.Node( package="robot_state_publisher", diff --git a/openarm_bimanual_description/launch/display.launch.py b/openarm_bimanual_description/launch/display.launch.py index 3fce4a0..ad3fd5a 100644 --- a/openarm_bimanual_description/launch/display.launch.py +++ b/openarm_bimanual_description/launch/display.launch.py @@ -53,7 +53,8 @@ def generate_launch_description(): package="joint_state_publisher", executable="joint_state_publisher", name="joint_state_publisher", - condition=launch.conditions.UnlessCondition(LaunchConfiguration("gui")), + condition=launch.conditions.UnlessCondition( + LaunchConfiguration("gui")), parameters=[ { "use_sim_time": use_sim_time, diff --git a/openarm_bimanual_description/launch/gazebo.launch.py b/openarm_bimanual_description/launch/gazebo.launch.py index 7b70457..52f985c 100644 --- a/openarm_bimanual_description/launch/gazebo.launch.py +++ b/openarm_bimanual_description/launch/gazebo.launch.py @@ -36,7 +36,8 @@ def generate_launch_description(): # Make path to resources dir without last package_name fragment. path_to_share_dir_clipped = "".join( - get_package_share_directory(resources_package).rsplit("/" + resources_package, 1) + get_package_share_directory(resources_package).rsplit( + "/" + resources_package, 1) ) # Gazebo hint for resources. @@ -55,9 +56,11 @@ def generate_launch_description(): os.environ["SDF_PATH"] = gz_sim_resource_path use_custom_world = LaunchConfiguration("use_custom_world") - use_custom_world_launch_arg = DeclareLaunchArgument("use_custom_world", default_value="true") + use_custom_world_launch_arg = DeclareLaunchArgument( + "use_custom_world", default_value="true") gazebo_world = LaunchConfiguration("gazebo_world") - gazebo_world_launch_arg = DeclareLaunchArgument("gazebo_world", default_value="empty.sdf") + gazebo_world_launch_arg = DeclareLaunchArgument( + "gazebo_world", default_value="empty.sdf") # prepare custom world world = os.getenv("GZ_SIM_WORLD", "empty") @@ -100,7 +103,8 @@ def generate_launch_description(): ) use_sim_time = LaunchConfiguration("use_sim_time") - use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true") + use_sim_time_launch_arg = DeclareLaunchArgument( + "use_sim_time", default_value="true") use_rviz = LaunchConfiguration("use_rviz") use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value="true") diff --git a/openarm_bimanual_moveit_config/launch/demo.launch.py b/openarm_bimanual_moveit_config/launch/demo.launch.py index f0a8cf5..ac1a259 100644 --- a/openarm_bimanual_moveit_config/launch/demo.launch.py +++ b/openarm_bimanual_moveit_config/launch/demo.launch.py @@ -17,5 +17,6 @@ from moveit_configs_utils.launches import generate_demo_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/move_group.launch.py b/openarm_bimanual_moveit_config/launch/move_group.launch.py index 9aa5682..5072d9e 100644 --- a/openarm_bimanual_moveit_config/launch/move_group.launch.py +++ b/openarm_bimanual_moveit_config/launch/move_group.launch.py @@ -17,5 +17,6 @@ from moveit_configs_utils.launches import generate_move_group_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py b/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py index 012c446..2061e83 100644 --- a/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py +++ b/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py @@ -17,5 +17,6 @@ from moveit_configs_utils.launches import generate_moveit_rviz_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/rsp.launch.py b/openarm_bimanual_moveit_config/launch/rsp.launch.py index 3c6b7b6..2561327 100644 --- a/openarm_bimanual_moveit_config/launch/rsp.launch.py +++ b/openarm_bimanual_moveit_config/launch/rsp.launch.py @@ -17,5 +17,6 @@ from moveit_configs_utils.launches import generate_rsp_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py b/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py index 68e6ec9..0452258 100644 --- a/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py +++ b/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py @@ -17,5 +17,6 @@ from moveit_configs_utils.launches import generate_setup_assistant_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py b/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py index c2a6deb..ef63751 100644 --- a/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py +++ b/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py @@ -17,5 +17,6 @@ from moveit_configs_utils.launches import generate_spawn_controllers_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py b/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py index 4838cdf..bfc4ca5 100644 --- a/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -17,5 +17,6 @@ from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_laun def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py b/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py index bef5622..f6ef5d1 100644 --- a/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py +++ b/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py @@ -17,5 +17,6 @@ from moveit_configs_utils.launches import generate_warehouse_db_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/openarm_bringup/launch/openarm.launch.py b/openarm_bringup/launch/openarm.launch.py index 84246f0..158ec35 100644 --- a/openarm_bringup/launch/openarm.launch.py +++ b/openarm_bringup/launch/openarm.launch.py @@ -89,7 +89,8 @@ def generate_launch_description(): DeclareLaunchArgument( "robot_controller", default_value="joint_trajectory_controller", - choices=["forward_position_controller", "joint_trajectory_controller"], + choices=["forward_position_controller", + "joint_trajectory_controller"], description="Robot controller to start.", ) ) @@ -110,7 +111,8 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare(description_package), + "urdf", description_file] ), " ", "prefix:=", @@ -131,7 +133,8 @@ def generate_launch_description(): [FindPackageShare(runtime_config_package), "config", controllers_file] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "robot_description.rviz"] + [FindPackageShare(description_package), "rviz", + "robot_description.rviz"] ) control_node = Node( @@ -157,7 +160,8 @@ def generate_launch_description(): joint_state_broadcaster_spawner = Node( package="controller_manager", executable="spawner", - arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], + arguments=["joint_state_broadcaster", + "--controller-manager", "/controller_manager"], ) robot_controller_names = [robot_controller] @@ -178,7 +182,8 @@ def generate_launch_description(): Node( package="controller_manager", executable="spawner", - arguments=[controller, "-c", "/controller_manager", "--inactive"], + arguments=[controller, "-c", + "/controller_manager", "--inactive"], ) ] diff --git a/openarm_bringup/launch/test_forward_position_controller.launch.py b/openarm_bringup/launch/test_forward_position_controller.launch.py index d8ccf5d..72d1c1b 100644 --- a/openarm_bringup/launch/test_forward_position_controller.launch.py +++ b/openarm_bringup/launch/test_forward_position_controller.launch.py @@ -28,7 +28,8 @@ from launch_ros.substitutions import FindPackageShare def generate_launch_description(): position_goals = PathJoinSubstitution( - [FindPackageShare("openarm_bringup"), "config", "test_goal_publishers_config.yaml"] + [FindPackageShare("openarm_bringup"), "config", + "test_goal_publishers_config.yaml"] ) return LaunchDescription( diff --git a/openarm_bringup/launch/test_joint_trajectory_controller.launch.py b/openarm_bringup/launch/test_joint_trajectory_controller.launch.py index b084e7f..c72189a 100644 --- a/openarm_bringup/launch/test_joint_trajectory_controller.launch.py +++ b/openarm_bringup/launch/test_joint_trajectory_controller.launch.py @@ -28,7 +28,8 @@ from launch_ros.substitutions import FindPackageShare def generate_launch_description(): position_goals = PathJoinSubstitution( - [FindPackageShare("openarm_bringup"), "config", "test_goal_publishers_config.yaml"] + [FindPackageShare("openarm_bringup"), "config", + "test_goal_publishers_config.yaml"] ) return LaunchDescription( diff --git a/openarm_description/launch/description.launch.py b/openarm_description/launch/description.launch.py index 090c640..7f07224 100644 --- a/openarm_description/launch/description.launch.py +++ b/openarm_description/launch/description.launch.py @@ -32,20 +32,21 @@ def generate_launch_description(): default_model_path = pkg_share / "urdf/openarm.urdf.xacro" model_arg = launch.actions.DeclareLaunchArgument( - name="model", - default_value=str(default_model_path), - description="Absolute path to the robot's URDF file", - ) + name="model", + default_value=str(default_model_path), + description="Absolute path to the robot's URDF file", + ) side_arg = DeclareLaunchArgument( name="side", default_value="right", # Use "left" to test left arm. description="Select arm side: 'left' or 'right'" ) zero_pos_arg = DeclareLaunchArgument( - name="zero_pos", default_value="up", # Use "arm" to test alternative configuration. + # Use "arm" to test alternative configuration. + name="zero_pos", default_value="up", description="Specify zero position: 'up' or 'arm'" ) prefix_arg = DeclareLaunchArgument( - name="prefix", default_value="", + name="prefix", default_value="", description="Prefix for link and joint names (e.g., left_, right_)" ) can_device_arg = DeclareLaunchArgument( @@ -54,7 +55,8 @@ def generate_launch_description(): ) use_sim_time = LaunchConfiguration("use_sim_time") - use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true") + use_sim_time_launch_arg = DeclareLaunchArgument( + "use_sim_time", default_value="true") robot_description_command = Command([ "xacro ", LaunchConfiguration("model"), diff --git a/openarm_description/launch/display.launch.py b/openarm_description/launch/display.launch.py index 50794c7..98bdc13 100644 --- a/openarm_description/launch/display.launch.py +++ b/openarm_description/launch/display.launch.py @@ -53,7 +53,8 @@ def generate_launch_description(): package="joint_state_publisher", executable="joint_state_publisher", name="joint_state_publisher", - condition=launch.conditions.UnlessCondition(LaunchConfiguration("gui")), + condition=launch.conditions.UnlessCondition( + LaunchConfiguration("gui")), parameters=[ { "use_sim_time": use_sim_time, diff --git a/openarm_description/launch/gazebo.launch.py b/openarm_description/launch/gazebo.launch.py index b47c27f..7703d62 100644 --- a/openarm_description/launch/gazebo.launch.py +++ b/openarm_description/launch/gazebo.launch.py @@ -36,7 +36,8 @@ def generate_launch_description(): # Make path to resources dir without last package_name fragment. path_to_share_dir_clipped = "".join( - get_package_share_directory(resources_package).rsplit("/" + resources_package, 1) + get_package_share_directory(resources_package).rsplit( + "/" + resources_package, 1) ) # Gazebo hint for resources. @@ -55,9 +56,11 @@ def generate_launch_description(): os.environ["SDF_PATH"] = gz_sim_resource_path use_custom_world = LaunchConfiguration("use_custom_world") - use_custom_world_launch_arg = DeclareLaunchArgument("use_custom_world", default_value="true") + use_custom_world_launch_arg = DeclareLaunchArgument( + "use_custom_world", default_value="true") gazebo_world = LaunchConfiguration("gazebo_world") - gazebo_world_launch_arg = DeclareLaunchArgument("gazebo_world", default_value="empty.sdf") + gazebo_world_launch_arg = DeclareLaunchArgument( + "gazebo_world", default_value="empty.sdf") # prepare custom world world = os.getenv("GZ_SIM_WORLD", "empty") @@ -100,7 +103,8 @@ def generate_launch_description(): ) use_sim_time = LaunchConfiguration("use_sim_time") - use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true") + use_sim_time_launch_arg = DeclareLaunchArgument( + "use_sim_time", default_value="true") use_rviz = LaunchConfiguration("use_rviz") use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value="true")