MAINT: Formatting

Author: AlexanderFabisch

pytransform3d/test/test_urdf.py

@@ -211,14 +211,14 @@ def test_xml_namespace():
 
     robot_name, links, joints = parse_urdf(urdf)
 
-    assert robot_name == 'robot_name'
+    assert robot_name == "robot_name"
     assert len(links) == 2
     assert len(joints) == 1
 
     for link in links:
-        assert link.name in ['link0', 'link1']
+        assert link.name in ["link0", "link1"]
 
-    assert joints[0].joint_name == 'joint0'
+    assert joints[0].joint_name == "joint0"
 
 
 def test_reference_to_unknown_child():

pytransform3d/urdf.py

@@ -413,13 +413,13 @@ def parse_urdf(urdf_xml, mesh_path=None, package_dir=None, strict_check=True):
     # URDF XML schema:
     # https://github.com/ros/urdfdom/blob/master/xsd/urdf.xsd
 
-    # If there is an XML namespace (xmlns=...) specified, this will break parsing as
-    # the root tag, and the tag of all elements underneath root, will have a {namespace}
-    # prefix. As such, normalize the namespace to the default (i.e. no namespace).
+    # If there is an XML namespace (xmlns=...) specified, this will break
+    # parsing as the root tag, and the tag of all elements underneath root,
+    # will have a {namespace} prefix. As such, normalize the namespace to the
+    # default (i.e. no namespace).
 
     _normalize_namespace(root)
 
-
     if root.tag != "robot":
         raise UrdfException("Robot tag is missing.")
 
@@ -470,6 +470,13 @@ def initialize_urdf_transform_manager(tm, robot_name, links, joints):
     _add_joints(tm, joints)
 
 
+def _normalize_namespace(root):
+    """Normalizes the namespace of the root node and all elements underneath."""
+    root.tag = re.sub(r"\{.*?\}", "", root.tag)
+    for element in root.iter():
+        element.tag = re.sub(r"\{.*?\}", "", element.tag)
+
+
 def _parse_material(material):
     """Parse material."""
     if "name" not in material.attrib:
@@ -754,15 +761,6 @@ def _add_joints(tm, joints):
                 "fixed",
             )
 
-def _normalize_namespace(root):
-    """Normalizes the namespace of the root node and all elements underneath it.
-    """
-
-    root.tag = re.sub(r"\{.*?\}", "", root.tag)
-
-    for element in root.iter():
-        element.tag = re.sub(r"\{.*?\}", "", element.tag)
-
 
 class Link(object):
     """Link from URDF file.