fixing format

robosoft-ai · pabloinigoblasco · Dec 26, 2022 · Dec 26, 2022 · Dec 26, 2022 · Dec 26, 2022
commit 7feecea18af4257a74f41e7b811f3031d4481dca
diff --git a/...2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/launch/demo.launch.py b/...2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/launch/demo.launch.py
@@ -1,3  1,17 @@
 # Copyright 2021 RobosoftAI Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
 #     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
 import os
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument

diff --git a/...2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/launch/demo.launch.py b/...2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/launch/demo.launch.py
@@ -1,3  1,17 @@
 # Copyright 2021 RobosoftAI Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
 #     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
 import os
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument

diff --git a/...multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/orthogonals/or_arm_left.hpp b/...multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/orthogonals/or_arm_left.hpp
@@ -33,7  33,7 @@ class OrArmLeft : public smacc2::Orthogonal<OrArmLeft>
 public:
   void onInitialize() override
   {
- 
 
     moveit::planning_interface::MoveGroupInterface::Options options ("left_panda_arm","robot_description_left", "/panda_arm_1");
 
 

diff --git a/...ulti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/orthogonals/or_arm_right.hpp b/...ulti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/orthogonals/or_arm_right.hpp
@@ -33,7  33,7 @@ class OrArmRight : public smacc2::Orthogonal<OrArmRight>
 public:
   void onInitialize() override
   {
-    
 
     moveit::planning_interface::MoveGroupInterface::Options options ("right_panda_arm","robot_description", "/panda_arm_2");
 
     auto move_group_client = this->createClient<cl_move_group_interface::ClMoveGroup>(options); //ur_manipulator

diff --git a/...y/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/sm_multi_panda_sim.hpp b/...y/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/sm_multi_panda_sim.hpp
@@ -141,4  141,4 @@ struct SmMultiPandaSim : public smacc2::SmaccStateMachineBase<SmMultiPandaSim, S
 
 #include "states/st_left_arm_moves.hpp"
 #include "states/st_right_arm_moves.hpp"
-#include "states/st_both_arms_move.hpp"
 #include "states/st_both_arms_move.hpp"
diff --git a/...lti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/states/st_acquire_sensors.hpp b/...lti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/states/st_acquire_sensors.hpp
@@ -47,7  47,7 @@ struct StAcquireSensors : smacc2::SmaccState<StAcquireSensors, SmMultiPandaSim>
     >reactions;
 
   // STATE FUNCTIONS
-  static void staticConfigure() 
   static void staticConfigure()
   {
     configure_orthogonal<OrArmLeft, CbWaitJointState>();
   }

diff --git a/...ulti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/states/st_both_arms_move.hpp b/...ulti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/states/st_both_arms_move.hpp
@@ -41,7  41,7 @@ struct StBothArmsMove : smacc2::SmaccState<StBothArmsMove, SmMultiPandaSim>
   // STATE FUNCTIONS
   static void staticConfigure()
   {
- 
 
 
     std::map<std::string, double> rightJointValues{ { "right_panda_joint1", -0.3 },
                                                      { "right_panda_joint2", -0.3 },

diff --git a/...ulti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/states/st_left_arm_moves.hpp b/...ulti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/states/st_left_arm_moves.hpp
@@ -43,7  43,7 @@ struct StLeftArmMoves : smacc2::SmaccState<StLeftArmMoves, SmMultiPandaSim>
   // STATE FUNCTIONS
   static void staticConfigure()
   {
-  
 
 
     std::map<std::string, double> leftJointValues{
                                                     { "left_panda_joint1", 0.1 },
@@ -59,7  59,7 @@ struct StLeftArmMoves : smacc2::SmaccState<StLeftArmMoves, SmMultiPandaSim>
   void runtimeConfigure()
   {
     this->getClientBehavior<OrArmLeft, CbMoveJoints>()->scalingFactor_=100;
-    
 
     // std::map<std::string, double> leftJointValues{
     //   { "left_panda_joint1", 0.1 },
     //   { "left_panda_joint2", 0.1 },

diff --git a/...lti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/states/st_right_arm_moves.hpp b/...lti_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/states/st_right_arm_moves.hpp
@@ -42,7  42,7 @@ struct StRightArmMoves : smacc2::SmaccState<StRightArmMoves, SmMultiPandaSim>
   // STATE FUNCTIONS
   static void staticConfigure()
   {
-   
 
 
     std::map<std::string, double> rightJointValues{ { "right_panda_joint1", 0.1 },
                                                      { "right_panda_joint2", 0.1 },

diff --git a/...ference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/sm_multi_panda_sim.launch.py b/...ference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/sm_multi_panda_sim.launch.py
@@ -1,15  1,44 @@
 # Copyright 2021 RobosoftAI Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
 #     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
 import os
 from launch import LaunchDescription
 from ament_index_python.packages import get_package_share_directory
 from launch.launch_description_sources import AnyLaunchDescriptionSource
 
 from launch.actions import IncludeLaunchDescription
 
 
 def generate_launch_description():
     panda_arm_1 = IncludeLaunchDescription(
-        AnyLaunchDescriptionSource(os.path.join(get_package_share_directory('panda_arm_1_moveit_config'), 'launch', 'demo.launch.py')))
         AnyLaunchDescriptionSource(
             os.path.join(
                 get_package_share_directory("panda_arm_1_moveit_config"),
                 "launch",
                 "demo.launch.py",
             )
         )
     )
 
     panda_arm_2 = IncludeLaunchDescription(
-        AnyLaunchDescriptionSource(os.path.join(get_package_share_directory('panda_arm_2_moveit_config'), 'launch', 'demo.launch.py')))
         AnyLaunchDescriptionSource(
             os.path.join(
                 get_package_share_directory("panda_arm_2_moveit_config"),
                 "launch",
                 "demo.launch.py",
             )
         )
     )
 
-    return LaunchDescription([panda_arm_1, panda_arm_2])
     return LaunchDescription([panda_arm_1, panda_arm_2])