Sciurus17と共通化

rt-net · Jan 29, 2025 · aeea090 · aeea090
1 parent f1e1806
commit aeea090
Showing 1 changed file with 6 additions and 10 deletions.
diff --git a/crane_x7_examples_py/crane_x7_examples_py/utils.py b/crane_x7_examples_py/crane_x7_examples_py/utils.py
@@ -27,24 +27,20 @@ def plan_and_execute(
     logger = get_logger('plan_and_execute')
     logger.info('Planning trajectory')
     if multi_plan_parameters is not None:
-        plan_result = planning_component.plan(
-            multi_plan_parameters=multi_plan_parameters
-        )
+        plan_result = planning_component.plan(multi_plan_parameters=multi_plan_parameters)
     elif single_plan_parameters is not None:
-        plan_result = planning_component.plan(
-            single_plan_parameters=single_plan_parameters
-        )
+        plan_result = planning_component.plan(single_plan_parameters=single_plan_parameters)
     else:
         plan_result = planning_component.plan()
 
     # execute the plan
-    result = None
     if plan_result:
         logger.info('Executing plan')
         robot_trajectory = plan_result.trajectory
-        result = robot.execute(robot_trajectory, controllers=[])
+        execute_result = robot.execute(robot_trajectory, controllers=[])
     else:
         logger.error('Planning failed')
-        result = False
+        execute_result = False
+
     time.sleep(sleep_time)
-    return result
+    return execute_result