Reformat code

ff_control/ff_control/wrench_ctrl.py

@@ -96,7 +96,7 @@ def set_world_wrench(self, wrench_world: Wrench2D, theta: float) -> None:
 
     def clip_wrench(self, wrench: Wrench2D) -> Wrench2D:
         wrench_clipped = Wrench2D()
-        force = np.sqrt(wrench.fx**2 + wrench.fy**2)
+        force = np.sqrt(wrench.fx ** 2 + wrench.fy ** 2)
         force_scale = max(force / self.p.actuators["F_body_max"], 1.0)
         torque_scale = max(abs(wrench.tz) / self.p.actuators["M_body_max"], 1.0)
 

ff_sim/ff_sim/controller_metrics.py

@@ -48,8 +48,9 @@
 
 from ff_params import RobotParams
 
+
 class ControllerMetricsPublisher(Node):
-    """ Class to listen to free flyer commands and calculate metrics """
+    """Class to listen to free flyer commands and calculate metrics"""
 
     def __init__(self):
         super().__init__("ff_ctrl_metrics")
@@ -74,15 +75,15 @@ def __init__(self):
         )
 
     def process_new_wheel_cmd(self, msg: WheelVelCommand) -> None:
-        """ Doesn't process wheel command """
+        """Doesn't process wheel command"""
         pass
 
     def process_new_binary_thrust_cmd(self, msg: ThrusterCommand) -> None:
-        """ Process binary thrusters """
+        """Process binary thrusters"""
         now = self.get_clock().now().to_msg()
         dtsec = now.sec - self.curr_time.sec
         dtnsec = now.nanosec - self.curr_time.nanosec
-        dt = dtsec + dtnsec/1e9
+        dt = dtsec + dtnsec / 1e9
 
         thrusters = np.array(msg.switches, dtype=float)
         self.running_total_gas += self.prev_thruster_sum * dt
@@ -93,7 +94,9 @@ def process_new_binary_thrust_cmd(self, msg: ThrusterCommand) -> None:
             self.time_hist.append(dt)
             for i in range(8):
                 self.thrust_hist[i].append(thrusters[i])
-                self.thrust_duty_cycles[i] = np.dot(self.thrust_hist[i],self.time_hist) / np.sum(self.time_hist)
+                self.thrust_duty_cycles[i] = np.dot(self.thrust_hist[i], self.time_hist) / np.sum(
+                    self.time_hist
+                )
             if self.steps >= self.duty_cycle_window:
                 self.rolled_up = True
         else:
@@ -102,8 +105,10 @@ def process_new_binary_thrust_cmd(self, msg: ThrusterCommand) -> None:
             for i in range(8):
                 self.thrust_hist[i].pop(0)
                 self.thrust_hist[i].append(thrusters[i])
-                self.thrust_duty_cycles[i] = np.dot(self.thrust_hist[i],self.time_hist) / np.sum(self.time_hist)
-
+                self.thrust_duty_cycles[i] = np.dot(self.thrust_hist[i], self.time_hist) / np.sum(
+                    self.time_hist
+                )
+
         metrics = ControllerMetrics()
         metrics.header.stamp = now
         metrics.total_gas_time = self.running_total_gas
@@ -116,7 +121,6 @@ def process_new_pwm_thrust_cmd(self):
         pass
 
 
-
 def main():
     rclpy.init()
     ff_metrics = ControllerMetricsPublisher()

ff_sim/ff_sim/simulator_node.py

@@ -388,7 +388,9 @@ def f_dynamics_continuous_time(self, x, u):
         f[0:2] = v
         f[2] = thetadot
         thetaddot = (M - F[1] * p0[0] + F[0] * p0[1]) / J
-        f[3:5] = np.matmul(R, (F / m - (thetaddot * np.array([-p0[1], p0[0]]) - thetadot**2 * p0)))
+        f[3:5] = np.matmul(
+            R, (F / m - (thetaddot * np.array([-p0[1], p0[0]]) - thetadot ** 2 * p0))
+        )
         f[5] = thetaddot
 
         # add constant force due to table tilt

ff_sim/launch/single.launch.py

@@ -56,6 +56,6 @@ def generate_launch_description():
                 executable="safety_filter",
                 name="safety_filter",
                 namespace=robot_name,
-            )
+            ),
         ]
     )

ff_sim/setup.py

@@ -21,8 +21,8 @@
     tests_require=["pytest"],
     entry_points={
         "console_scripts": [
-                            "simulator_node = ff_sim.simulator_node:main",
-                            "controller_metrics = ff_sim.controller_metrics:main"
-                            ],
+            "simulator_node = ff_sim.simulator_node:main",
+            "controller_metrics = ff_sim.controller_metrics:main",
+        ],
     },
 )