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dyson-ai · Nov 16, 2023 · 51e25ca · 51e25ca
1 parent e269a08
commit 51e25ca
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/grip/ros/tf_tools.py b/grip/ros/tf_tools.py
@@ -40,7 +40,9 @@ def broadcast_frame(
         t = TransformStamped()
 
         t.header.stamp = (
-            self.node.get_clock().now().to_msg() if current_time is None else current_time
+            self.node.get_clock().now().to_msg()
+            if current_time is None
+            else current_time
         )
 
         translation = transform[0]
@@ -97,7 +99,6 @@ def get_transform(
         if base_frame == source_frame:
             return (0, 0, 0), (0, 0, 0, 1), self.node.get_clock()
         for i in range(n_trials):
-
             t = None
             try:
                 t = self.tf_buffer.lookup_transform(base_frame, source_frame, time)
@@ -111,7 +112,9 @@ def get_transform(
                 )
 
                 if i == (n_trials - 1):
-                    self.node.get_logger().error(f"Transform could not be queried. Error: {e}")
+                    self.node.get_logger().error(
+                        f"Transform could not be queried. Error: {e}"
+                    )
                     return None, None, None
 
         translation = (

diff --git a/grip_examples/robot/ex05_ros_robot_moveit.py b/grip_examples/robot/ex05_ros_robot_moveit.py
@@ -63,7 +63,7 @@ def __init__(self, camera_fps: int = 10, joint_pub_rate: int = 150):
             sim=True,
             state_topic="arm/joint_states",
             command_topic="arm/joint_commands",
-            enable_action_server=False
+            enable_action_server=False,
         )
 
         print("Links: ", self.arm.get_link_names())