fix flake

mangdangroboticsclub · Nov 6, 2023 · 9558a1f · 9558a1f
1 parent 463e85a
commit 9558a1f
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/mini_pupper_dance/mini_pupper_dance/pose_controller.py b/mini_pupper_dance/mini_pupper_dance/pose_controller.py
@@ -64,12 +64,11 @@ def interpolation_timer_callback(self):
  elif (reference_y > state_y):
  state_y = state_y + self.increment
 
- self.pose_state.orientation.x,
- self.pose_state.orientation.y,
- self.pose_state.orientation.z,
- self.pose_state.orientation.w = quaternion_from_euler(state_r,
- state_p,
- state_y)
+ x, y, z, w = quaternion_from_euler(state_r, state_p, state_y)
+ self.pose_state.orientation.x = x
+ self.pose_state.orientation.y = y
+ self.pose_state.orientation.z = z
+ self.pose_state.orientation.w = w
 
  self.pose_state.position.x = self.pose_reference.position.x
  self.pose_state.position.y = self.pose_reference.position.y

diff --git a/mini_pupper_music/mini_pupper_music/music_server.py b/mini_pupper_music/mini_pupper_music/music_server.py
@@ -87,7 +87,8 @@ def stop_sound(self):
  self.playback_thread.join(timeout=1.0) # Wait for 1 second for the thread to finish
  if self.playback_thread.is_alive():
  # If the thread is still running, terminate it forcefully
- self.get_logger().warning('Playback thread did not terminate gracefully. Terminating forcefully.')
+ self.get_logger().warning('Playback thread did not terminate gracefully.')
+ self.get_logger().warning('Terminating forcefully.')
  self.terminate_thread(self.playback_thread)
 
  def terminate_thread(self, thread):
@@ -96,7 +97,10 @@ def terminate_thread(self, thread):
 
  thread_id = thread.ident
  # Terminate the thread using ctypes
- ctypes.pythonapi.PyThreadState_SetAsyncExc(ctypes.c_long(thread_id), ctypes.py_object(SystemExit))
+ ctypes.pythonapi.PyThreadState_SetAsyncExc(
+ ctypes.c_long(thread_id), 
+ ctypes.py_object(SystemExit)
+ )
  self.get_logger().warning('Playback thread terminated forcefully.')