Format

src/localization/gps_driver.py

@@ -134,4 +134,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

src/teleoperation/arm_automation/arm_automation.py

@@ -30,19 +30,16 @@ def execute_callback(goal: ArmActionGoal):
             rospy.logerr("No joint state data available")
             server.set_aborted(ArmActionResult())
             return
-        
+
         if goal.name == "de_home":
             target_names = ["joint_de_pitch", "joint_de_roll"]
-            target_positions = [
-                joint_state.position[joint_state.name.index('joint_de_pitch')],
-                np.pi / 8
-            ]
+            target_positions = [joint_state.position[joint_state.name.index("joint_de_pitch")], np.pi / 8]
             rospy.loginfo(f"Moving to {target_positions} for {target_names}")
         else:
             rospy.logerr("Invalid goal name")
             server.set_aborted(ArmActionResult())
             return
-        
+
         rate = rospy.Rate(20)
         while not rospy.is_shutdown():
             if server.is_preempt_requested():
@@ -51,14 +48,13 @@ def execute_callback(goal: ArmActionGoal):
                 server.set_aborted(ArmActionResult())
                 return
 
-
             pos_pub.publish(Position(names=target_names, positions=target_positions))
 
             feedback = [
-                joint_state.position[joint_state.name.index('joint_de_pitch')],
-                joint_state.position[joint_state.name.index('joint_de_roll')]
+                joint_state.position[joint_state.name.index("joint_de_pitch")],
+                joint_state.position[joint_state.name.index("joint_de_roll")],
             ]
-            
+
             if np.allclose(target_positions, feedback, atol=0.1):
                 rospy.loginfo("Reached target")
                 break

src/teleoperation/backend/consumers.py

@@ -355,11 +355,14 @@ def publish_throttle(self, type, names, axes, buttons):
             throttle_cmd.throttles = [
                 self.ra_config["joint_a"]["multiplier"] * self.filter_xbox_axis(axes[self.xbox_mappings["left_x"]]),
                 self.ra_config["joint_b"]["multiplier"] * self.filter_xbox_axis(axes[self.xbox_mappings["left_y"]]),
-                self.ra_config["joint_c"]["multiplier"] * quadratic(self.filter_xbox_axis(axes[self.xbox_mappings["right_y"]])),
-                self.ra_config["joint_de_pitch"]["multiplier"] * self.filter_xbox_axis(
+                self.ra_config["joint_c"]["multiplier"]
+                * quadratic(self.filter_xbox_axis(axes[self.xbox_mappings["right_y"]])),
+                self.ra_config["joint_de_pitch"]["multiplier"]
+                * self.filter_xbox_axis(
                     buttons[self.xbox_mappings["right_trigger"]] - buttons[self.xbox_mappings["left_trigger"]]
                 ),
-                self.ra_config["joint_de_roll"]["multiplier"] * self.filter_xbox_axis(
+                self.ra_config["joint_de_roll"]["multiplier"]
+                * self.filter_xbox_axis(
                     buttons[self.xbox_mappings["right_bumper"]] - buttons[self.xbox_mappings["left_bumper"]]
                 ),
                 self.ra_config["allen_key"]["multiplier"] * self.filter_xbox_button(buttons, "y", "a"),
@@ -433,7 +436,7 @@ def get_axes_input(
         # angular_from_lateral = get_axes_input("left_right", 0.4, True)
         angular = get_axes_input("twist", 0.03, True, self.max_angular_speed * dampen)
 
-        linear += get_axes_input("tilt", 0.5,  scale=0.1)
+        linear += get_axes_input("tilt", 0.5, scale=0.1)
 
         self.twist_pub.publish(
             Twist(
@@ -475,11 +478,7 @@ def arm_controller_callback(self, msg):
     def sa_joint_callback(self, msg):
         names = msg.name
         z = msg.position[names.index("sa_z")]
-        self.send(
-            text_data=json.dumps(
-                {"type": "sa_z", "sa_z": z}
-            )
-        )
+        self.send(text_data=json.dumps({"type": "sa_z", "sa_z": z}))
 
     def drive_controller_callback(self, msg):
         hits = []