[copybara] Resync with mostrobotpy (#8662)

wpimath/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",

wpimath/src/test/python/kinematics/test_chassis_velocities.py

@@ -111,4 +111,7 @@ def test_unpack() -> None:
 def test_repr() -> None:
     velocities = ChassisVelocities(2.0, 1.0, 0.0)
 
-    assert repr(velocities) == "ChassisVelocities(vx=2.000000, vy=1.000000, omega=0.000000)"
+    assert (
+        repr(velocities)
+        == "ChassisVelocities(vx=2.000000, vy=1.000000, omega=0.000000)"
+    )

wpimath/src/test/python/kinematics/test_mecanum_drive_kinematics.py

@@ -40,7 +40,9 @@ def test_straight_line_forward_kinematics(kinematics_test):
     wheel_velocities = MecanumDriveWheelVelocities(
         frontLeft=5, frontRight=5, rearLeft=5, rearRight=5
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(5.0, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(0.0, abs=0.1)
@@ -72,7 +74,9 @@ def test_strafe_forward_kinematics(kinematics_test):
     wheel_velocities = MecanumDriveWheelVelocities(
         frontLeft=-5, frontRight=5, rearLeft=5, rearRight=-5
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(0.0, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(5.0, abs=0.1)
@@ -107,7 +111,9 @@ def test_rotation_forward_kinematics(kinematics_test):
         rearLeft=-150.79644737,
         rearRight=150.79644737,
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(0.0, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(0.0, abs=0.1)
@@ -146,7 +152,9 @@ def test_mixed_rotation_translation_forward_kinematics(kinematics_test):
         rearRight=16.26,
     )
 
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(1.41335, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(2.1221, abs=0.1)
@@ -184,7 +192,9 @@ def test_off_center_rotation_forward_kinematics(kinematics_test):
         rearLeft=-16.971,
         rearRight=33.941,
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(8.48525, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(-8.48525, abs=0.1)
@@ -221,7 +231,9 @@ def test_off_center_translation_rotation_forward_kinematics(kinematics_test):
         rearLeft=-12.02,
         rearRight=36.06,
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(12.02, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(-7.07, abs=0.1)

wpimath/src/test/python/kinematics/test_swerve_drive_kinematics.py

@@ -164,7 +164,9 @@ def test_turn_in_place_forward_kinematics(kinematics_test):
     bl = SwerveModuleVelocity(velocity=106.629, angle=Rotation2d.fromDegrees(-135))
     br = SwerveModuleVelocity(velocity=106.629, angle=Rotation2d.fromDegrees(-45))
 
-    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities((fl, fr, bl, br))
+    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities(
+        (fl, fr, bl, br)
+    )
 
     assert chassis_velocities.vx == pytest.approx(0.0, abs=kEpsilon)
     assert chassis_velocities.vy == pytest.approx(0.0, abs=kEpsilon)
@@ -209,7 +211,9 @@ def test_off_center_cor_rotation_forward_kinematics(kinematics_test):
     bl = SwerveModuleVelocity(velocity=150.796, angle=Rotation2d.fromDegrees(-90))
     br = SwerveModuleVelocity(velocity=213.258, angle=Rotation2d.fromDegrees(-45))
 
-    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities((fl, fr, bl, br))
+    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities(
+        (fl, fr, bl, br)
+    )
 
     assert chassis_velocities.vx == pytest.approx(75.398, abs=kEpsilon)
     assert chassis_velocities.vy == pytest.approx(-75.398, abs=kEpsilon)
@@ -254,7 +258,9 @@ def test_off_center_cor_rotation_and_translation_forward_kinematics(kinematics_t
     bl = SwerveModuleVelocity(velocity=54.08, angle=Rotation2d.fromDegrees(-109.44))
     br = SwerveModuleVelocity(velocity=54.08, angle=Rotation2d.fromDegrees(-70.56))
 
-    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities((fl, fr, bl, br))
+    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities(
+        (fl, fr, bl, br)
+    )
 
     assert chassis_velocities.vx == pytest.approx(0.0, abs=kEpsilon)
     assert chassis_velocities.vy == pytest.approx(-33.0, abs=kEpsilon)