Fix format with black

bdaiinstitute · Jun 29, 2023 · 8ea1d4d · 8ea1d4d
1 parent 64d1123
commit 8ea1d4d
Showing 1 changed file with 20 additions and 9 deletions.
diff --git a/spot_wrapper/wrapper.py b/spot_wrapper/wrapper.py
@@ -1696,8 +1696,7 @@ def set_localization_waypoint(self, waypoint_id: str) -> typing.Tuple[bool, str]
             return False, f"Error: {e}"
 
     def cancel_navigation(self) -> None:
-        """Cancel navigation of a robot from start_navigation()
-        """
+        """Cancel navigation of a robot from start_navigation()"""
         self._cancel_navigate_to()
 
     @try_claim
@@ -2483,10 +2482,16 @@ def _start_navigation(self, target_waypoint_id):
         )
 
         if not destination_waypoint:
-            self.logger.error('Failed to find waypoint %s in current graph.', target_waypoint_id)
-            return False, f'Failed to find waypoint {target_waypoint_id} in current graph.', "aborted"
+            self.logger.error(
+                "Failed to find waypoint %s in current graph.", target_waypoint_id
+            )
+            return (
+                False,
+                f"Failed to find waypoint {target_waypoint_id} in current graph.",
+                "aborted",
+            )
 
-        self.logger.info('Starting navigation to %s', destination_waypoint)
+        self.logger.info("Starting navigation to %s", destination_waypoint)
 
         self._lease = self._lease_wallet.advance()
         sublease = self._lease.create_sublease()
@@ -2501,11 +2506,11 @@ def _start_navigation(self, target_waypoint_id):
                     destination_waypoint,
                     1.0,
                     leases=[sublease.lease_proto],
-                    command_id=nav_to_cmd_id
+                    command_id=nav_to_cmd_id,
                 )
                 self._last_navigate_to_command = nav_to_cmd_id
             except ResponseError as e:
-                self._logger.error('Error while navitation: %s', e)
+                self._logger.error("Error while navitation: %s", e)
                 break
 
             if self._check_success(nav_to_cmd_id):
@@ -2519,13 +2524,19 @@ def _start_navigation(self, target_waypoint_id):
             return False, "Navigation is canceled", "preempted"
 
         status = self._graph_nav_client.navigation_feedback(nav_to_cmd_id)
-        if status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_REACHED_GOAL:
+        if (
+            status.status
+            == graph_nav_pb2.NavigationFeedbackResponse.STATUS_REACHED_GOAL
+        ):
             return True, "Successfully completed the navigation commands!", "succeeded"
         elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_LOST:
             return False, "Robot got lost when navigating the route,", "failed"
         elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_STUCK:
             return False, "Robot got stuck when navigating the route,", "failed"
-        elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_ROBOT_IMPAIRED:
+        elif (
+            status.status
+            == graph_nav_pb2.NavigationFeedbackResponse.STATUS_ROBOT_IMPAIRED
+        ):
             return False, "Robot is impaired.", "failed"
         else:
             return False, "Navigation command is not complete yet.", "failed"