[pre-commit.ci] auto fixes from pre-commit.com hooks

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agimus-project · Jan 27, 2025 · 6880306 · 6880306
1 parent fe7d1e5
commit 6880306
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Showing 2 changed files with 53 additions and 55 deletions.
diff --git a/happypose_msgs/test/test_discretize_symmetries.py b/happypose_msgs/test/test_discretize_symmetries.py
@@ -137,9 +137,9 @@ def test_only_discrete_np() -> None:
     assert res.shape == (2, 4, 4), "Result shape is incorrect!"
 
     for i, t in enumerate(res):
-        assert is_transform_in_se3_list(
-            t, [t1, t2]
-        ), f"Discrete symmetry at index {i} did not match any of the initial ones!"
+        assert is_transform_in_se3_list(t, [t1, t2]), (
+            f"Discrete symmetry at index {i} did not match any of the initial ones!"
+        )
 
 
 def test_only_discrete_ros() -> None:
@@ -159,18 +159,18 @@ def test_only_discrete_ros() -> None:
 
     res = discretize_symmetries(msg, return_ros_msg=True)
 
-    assert len(res) == len(
-        msg.symmetries_discrete
-    ), "Results list does not have all discrete symmetries from message received!"
+    assert len(res) == len(msg.symmetries_discrete), (
+        "Results list does not have all discrete symmetries from message received!"
+    )
 
-    assert all(
-        isinstance(r, Transform) for r in res
-    ), "Returned type of elements in the list is not geometry_msgs.msg.Transform!"
+    assert all(isinstance(r, Transform) for r in res), (
+        "Returned type of elements in the list is not geometry_msgs.msg.Transform!"
+    )
 
     for i, t in enumerate(res):
-        assert is_transform_msg_in_list(
-            t, msg.symmetries_discrete
-        ), f"Discrete symmetry at index {i} did not match any initial ones in the message!"
+        assert is_transform_msg_in_list(t, msg.symmetries_discrete), (
+            f"Discrete symmetry at index {i} did not match any initial ones in the message!"
+        )
 
 
 def test_only_continuous_np() -> None:
@@ -201,9 +201,9 @@ def test_only_continuous_np() -> None:
     res = discretize_symmetries(msg, n_symmetries_continuous=n_symmetries)
     assert res.shape == (n_symmetries, 4, 4), "Result shape is incorrect!"
     for i, t in enumerate(res):
-        assert is_transform_in_se3_list(
-            t, t_list
-        ), f"Discrete symmetry at index {i} did not match any symmetry from generated list!"
+        assert is_transform_in_se3_list(t, t_list), (
+            f"Discrete symmetry at index {i} did not match any symmetry from generated list!"
+        )
 
 
 def test_only_continuous_ros() -> None:
@@ -235,16 +235,16 @@ def test_only_continuous_ros() -> None:
         msg, n_symmetries_continuous=n_symmetries, return_ros_msg=True
     )
 
-    assert len(res) == len(
-        t_list
-    ), "Results list does not have all discrete symmetries from message received!"
+    assert len(res) == len(t_list), (
+        "Results list does not have all discrete symmetries from message received!"
+    )
 
     t_msgs = [pin_to_msg(t) for t in t_list]
 
     for i, t in enumerate(res):
-        assert is_transform_msg_in_list(
-            t, t_msgs
-        ), f"Discrete symmetry at index {i} did not match any symmetry from generated list!"
+        assert is_transform_msg_in_list(t, t_msgs), (
+            f"Discrete symmetry at index {i} did not match any symmetry from generated list!"
+        )
 
 
 def test_mixed_np() -> None:
@@ -299,9 +299,9 @@ def test_mixed_np() -> None:
     print(res, flush=True)
 
     for i, t in enumerate(res):
-        assert is_transform_in_se3_list(
-            t, t_test
-        ), f"Discrete symmetry at index {i} did not match any symmetry from generated list!"
+        assert is_transform_in_se3_list(t, t_test), (
+            f"Discrete symmetry at index {i} did not match any symmetry from generated list!"
+        )
 
 
 def test_mixed_ros() -> None:
@@ -354,6 +354,6 @@ def test_mixed_ros() -> None:
     ]
 
     for i, t in enumerate(res):
-        assert is_transform_msg_in_list(
-            t, t_test
-        ), f"Discrete symmetry at index {i} did not match any symmetry from generated list!"
+        assert is_transform_msg_in_list(t, t_test), (
+            f"Discrete symmetry at index {i} did not match any symmetry from generated list!"
+        )
diff --git a/happypose_ros/test/happypose_testing_utils.py b/happypose_ros/test/happypose_testing_utils.py
@@ -269,13 +269,12 @@ def get_params(
             time.sleep(0.1)
 
         assert future.done, (
-            "Timeout reached when spinning the service "
-            f"{self._get_param_cli.srv_name}!"
+            f"Timeout reached when spinning the service {self._get_param_cli.srv_name}!"
         )
 
-        assert (
-            future.result() is not None
-        ), f"Filed to call the service the service {self._set_param_cli.srv_name}!"
+        assert future.result() is not None, (
+            f"Filed to call the service the service {self._set_param_cli.srv_name}!"
+        )
 
         return [
             Parameter.from_parameter_msg(RCL_Parameter(name=name, value=param))
@@ -310,13 +309,12 @@ def set_params(self, parameters: List[Parameter], timeout: float = 5.0) -> None:
             time.sleep(0.1)
 
         assert future.done, (
-            "Timeout reached when spinning "
-            f"the service {self._set_param_cli.srv_name}!"
+            f"Timeout reached when spinning the service {self._set_param_cli.srv_name}!"
         )
 
-        assert (
-            future.result() is not None
-        ), f"Filed to call the service the service {self._set_param_cli.srv_name}!"
+        assert future.result() is not None, (
+            f"Filed to call the service the service {self._set_param_cli.srv_name}!"
+        )
 
         if not future.result().result.successful:
             "Failed to set parameters!"
@@ -570,9 +568,9 @@ def assert_pose_equal(
         for p in (pose_1, pose_2)
     ]
     diff = poses[0].inverse() * poses[1]
-    assert (
-        np.linalg.norm(pin.log6(diff).vector) < precision
-    ), "Detected pose is not within specified precision!"
+    assert np.linalg.norm(pin.log6(diff).vector) < precision, (
+        "Detected pose is not within specified precision!"
+    )
 
 
 def assert_transform_equal(
@@ -602,9 +600,9 @@ def assert_transform_equal(
         for t in (transform_1, transform_2)
     ]
     diff = poses[0].inverse() * poses[1]
-    assert (
-        np.linalg.norm(pin.log6(diff).vector) < precision
-    ), "Given transformations are is not within specified precision!"
+    assert np.linalg.norm(pin.log6(diff).vector) < precision, (
+        "Given transformations are is not within specified precision!"
+    )
 
 
 def assert_bbox(
@@ -633,21 +631,21 @@ def assert_bbox(
     def _almost_equal(x: float, y: float, delta: float) -> bool:
         return abs(x - y) < delta
 
-    assert _almost_equal(
-        msg.size_x, size_x, pixel_error_x
-    ), "Bbox size in X is incorrect!"
+    assert _almost_equal(msg.size_x, size_x, pixel_error_x), (
+        "Bbox size in X is incorrect!"
+    )
 
-    assert _almost_equal(
-        msg.size_y, size_y, pixel_error_y
-    ), "Bbox size in Y is incorrect!"
+    assert _almost_equal(msg.size_y, size_y, pixel_error_y), (
+        "Bbox size in Y is incorrect!"
+    )
 
-    assert _almost_equal(
-        msg.center.position.x, center_x, pixel_error_x
-    ), "Bbox center in X is incrrect!"
+    assert _almost_equal(msg.center.position.x, center_x, pixel_error_x), (
+        "Bbox center in X is incrrect!"
+    )
 
-    assert _almost_equal(
-        msg.center.position.y, center_y, pixel_error_y
-    ), "Bbox center in Y is incorrect!"
+    assert _almost_equal(msg.center.position.y, center_y, pixel_error_y), (
+        "Bbox center in Y is incorrect!"
+    )
 
     if abs(msg.center.theta) > 1e-8:
         "Bbox theta is not 0.0!"