pre-commit fixes

Author: urfeex

my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml

@@ -5,13 +5,13 @@ controller_manager:
 
     alice_io_and_status_controller:
       type: ur_controllers/GPIOController
-  
+
     bob_io_and_status_controller:
       type: ur_controllers/GPIOController
 
     alice_speed_scaling_state_broadcaster:
       type: ur_controllers/SpeedScalingStateBroadcaster
-    
+
     bob_speed_scaling_state_broadcaster:
       type: ur_controllers/SpeedScalingStateBroadcaster
 
@@ -23,7 +23,7 @@ controller_manager:
 
     alice_joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
-  
+
     bob_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
@@ -38,7 +38,7 @@ controller_manager:
 
     alice_forward_position_controller:
       type: position_controllers/JointGroupPositionController
-  
+
     bob_forward_position_controller:
       type: position_controllers/JointGroupPositionController
 
@@ -47,7 +47,7 @@ alice_speed_scaling_state_broadcaster:
   ros__parameters:
     state_publish_rate: 100.0
     tf_prefix: "alice_"
-  
+
 bob_speed_scaling_state_broadcaster:
   ros__parameters:
     state_publish_rate: 100.0
@@ -114,7 +114,7 @@ alice_joint_trajectory_controller:
       alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
       alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
       alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
-  
+
 bob_joint_trajectory_controller:
   ros__parameters:
     joints:
@@ -238,4 +238,4 @@ bob_forward_position_controller:
       - bob_elbow_joint
       - bob_wrist_1_joint
       - bob_wrist_2_joint
-      - bob_wrist_3_joint
+      - bob_wrist_3_joint

my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py

@@ -1,7 +1,6 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import (Command, FindExecutable, LaunchConfiguration,
-                                  PathJoinSubstitution)
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
@@ -20,12 +19,8 @@ def generate_launch_description():
 
     headless_mode = LaunchConfiguration("headless_mode")
 
-    alice_kinematics_parameters_file = LaunchConfiguration(
-        "alice_kinematics_parameters_file"
-    )
-    bob_kinematics_parameters_file = LaunchConfiguration(
-        "bob_kinematics_parameters_file"
-    )
+    alice_kinematics_parameters_file = LaunchConfiguration("alice_kinematics_parameters_file")
+    bob_kinematics_parameters_file = LaunchConfiguration("bob_kinematics_parameters_file")
 
     robot_description_content = Command(
         [

my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro

@@ -88,7 +88,7 @@
       <child link="alice_robot_mount"/>
       <origin xyz="0.5 0.3 0" rpy="0 0 ${pi}" />
     </joint>
-  
+
     <link name="bob_robot_mount"/>
     <joint name="base_to_bob_robot_mount" type="fixed">
       <parent link="table"/>
@@ -108,7 +108,7 @@
     >
       <origin xyz="0 0 0" rpy="0 0 0" />
     </xacro:ur_robot>
-  
+
     <!--Creates the 2nd Robot-->
     <xacro:ur_robot
       name="bob"

my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant

@@ -7,4 +7,4 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: Vihaan Shah
     author_email: vihaan.shah@uconn.edu
-    generated_timestamp: 1719324402
+    generated_timestamp: 1719324402

my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/initial_positions.yaml

@@ -12,4 +12,4 @@ initial_positions:
   bob_shoulder_pan_joint: 0
   bob_wrist_1_joint: 0
   bob_wrist_2_joint: 0
-  bob_wrist_3_joint: 0
+  bob_wrist_3_joint: 0

my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml

@@ -67,4 +67,4 @@ joint_limits:
     has_velocity_limits: true
     max_velocity: 6.2831853071795862
     has_acceleration_limits: true
-    max_acceleration: 5.0
+    max_acceleration: 5.0

my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml

@@ -5,4 +5,4 @@ alice_manipulator:
 bob_manipulator:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.0050000000000000001
-  kinematics_solver_timeout: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit_controllers.yaml

@@ -29,4 +29,4 @@ moveit_simple_controller_manager:
       - bob_elbow_joint
       - bob_wrist_1_joint
       - bob_wrist_2_joint
-      - bob_wrist_3_joint
+      - bob_wrist_3_joint

my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py

@@ -4,8 +4,7 @@
 import yaml
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import (DeclareLaunchArgument, ExecuteProcess,
-                            RegisterEventHandler)
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler
 from launch.conditions import IfCondition
 from launch.event_handlers import OnProcessExit
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution