refactor: apply black formatting, again

common/navigation/tiago_controllers/src/tiago_controllers/base_planner.py

@@ -18,7 +18,6 @@
 
 
 def make_plan(current_pose, x, y, tol=0.01, max_dist=None):
-
     if "/move_base/NavfnROS/make_plan" in rosservice.get_service_list():
         make_plan_service = "/move_base/NavfnROS/make_plan"
     elif "/move_base/GlobalPlanner/make_plan" in rosservice.get_service_list():

common/navigation/tiago_controllers/src/tiago_controllers/controllers/look_at.py

@@ -21,7 +21,6 @@
 
 
 class LookAt:
-
     def __init__(
         self,
         head_controller: HeadController,

common/vision/lasr_vision_deepface/src/lasr_vision_deepface/deepface.py

@@ -44,7 +44,6 @@ def detect_face(cv_im: Mat) -> Mat | None:
 
 
 def create_image_collage(images, output_size=(640, 480)):
-
     # Calculate grid dimensions
     num_images = len(images)
     rows = int(np.sqrt(num_images))

documentation/src/document_lasr/document.py

@@ -161,18 +161,18 @@ def split_depend(input: str) -> (str, str):
     data["dependencies"] = DEPENDENCIES
 
     # Load additional markdown files
-    data["prerequisites"] = (
-        "Ask the package maintainer to write or create a blank `doc/PREREQUISITES.md` for their package!"
-    )
-    data["usage"] = (
-        "Ask the package maintainer to write a `doc/USAGE.md` for their package!"
-    )
-    data["example"] = (
-        "Ask the package maintainer to write a `doc/EXAMPLE.md` for their package!"
-    )
-    data["technical"] = (
-        "Ask the package maintainer to write a `doc/TECHNICAL.md` for their package!"
-    )
+    data[
+        "prerequisites"
+    ] = "Ask the package maintainer to write or create a blank `doc/PREREQUISITES.md` for their package!"
+    data[
+        "usage"
+    ] = "Ask the package maintainer to write a `doc/USAGE.md` for their package!"
+    data[
+        "example"
+    ] = "Ask the package maintainer to write a `doc/EXAMPLE.md` for their package!"
+    data[
+        "technical"
+    ] = "Ask the package maintainer to write a `doc/TECHNICAL.md` for their package!"
 
     for key, file in [
         ("prerequisites", "PREREQUISITES"),

legacy/aruco_service/scripts/GenerateTableCuboid.py

@@ -78,11 +78,9 @@ def generate_cuboid(msg):
     )
 
     if latest_pose is not None and (seconds - latest_pose.header.stamp.secs < 1.0):
-
         tr = get_transform_to_marker("aruco_marker_frame", "map")
 
         if is_rect:
-
             # THESE POINTS ARE IN MARKER COORDINATE FRAME [LOCATION OF ARUCO MARKER IS (0,0) IN THIS FRAME]
             local_corner_1 = [0, 0]
             local_corner_2 = [long_side, 0]
@@ -101,7 +99,6 @@ def generate_cuboid(msg):
             objects_marker_pub.publish(create_marker_msg(corner_4, 3))
 
             if table >= 0:
-
                 local_padded_corner_1 = [
                     local_corner_1[0] - padding,
                     local_corner_1[1] - padding,
@@ -258,7 +255,6 @@ def get_latest_pose(msg):
 
 
 if __name__ == "__main__":
-
     rospy.init_node("generate_table_cuboid")
     sub = rospy.Subscriber("/aruco_single/pose", PoseStamped, get_latest_pose)
     s = rospy.Service("generate_table_cuboid", GenerateTableCuboid, generate_cuboid)

legacy/aruco_service/scripts/publish_points_of_table.py

@@ -30,21 +30,17 @@ def publish_points(number):
     persons_marker_pub = rospy.Publisher("/table/persons_cuboid", Marker, queue_size=8)
 
     if table >= 0:
-
         obj = rospy.get_param("/tables/table" + str(table) + "/objects_cuboid")
 
         for i, p in enumerate(obj):
-
             objects_marker_pub.publish(create_marker_msg(p, i))
 
         per = rospy.get_param("/tables/table" + str(table) + "/persons_cuboid")
 
         for i, p in enumerate(per):
-
             persons_marker_pub.publish(create_marker_msg(p, i))
 
     elif table == -1:
-
         cuboid = rospy.get_param("/counter/cuboid")
 
         objects_marker_pub.publish(create_marker_msg(cuboid[0], 0))
@@ -66,7 +62,6 @@ def publish_points(number):
 
 
 if __name__ == "__main__":
-
     rospy.init_node("point_publisher")
     s = rospy.Service("publish_table_points", PublishTablePoints, publish_points)
 

legacy/aruco_service/scripts/save_navigation_points.py

@@ -123,7 +123,6 @@ def get_latest_pose(msg):
 
 
 if __name__ == "__main__":
-
     rospy.init_node("save_navigation_points")
     sub = rospy.Subscriber("/amcl_pose", PoseWithCovarianceStamped, get_latest_pose)
     rospy.Service("save_navigation_points", SaveNavigationPoint, save_navigation_points)

legacy/choosing_wait_position/src/choosing_wait_position/final_lift_key_point/common_tools.py

@@ -217,7 +217,6 @@ def visualize(
 
 
 def get_model(num_keypoints, weights_path=None):
-
     anchor_generator = AnchorGenerator(
         sizes=(32, 64, 128, 256, 512),
         aspect_ratios=(0.25, 0.5, 0.75, 1.0, 2.0, 3.0, 4.0),

legacy/choosing_wait_position/src/choosing_wait_position/final_lift_key_point/validate.py

@@ -151,7 +151,6 @@ def __len__(self):
 
 
 def get_model(num_keypoints, weights_path=None):
-
     anchor_generator = AnchorGenerator(
         sizes=(32, 64, 128, 256, 512),
         aspect_ratios=(0.25, 0.5, 0.75, 1.0, 2.0, 3.0, 4.0),

legacy/graph_room_navigation/scripts/test_graph_room_navigation.py

@@ -53,7 +53,6 @@
 voice = Voice()
 
 for p1, p2 in zip(plan.points[0::2], plan.points[1::2]):
-
     result = False
     tries = 0
     while not result:

legacy/graph_room_navigation/src/graph_room_navigation/graph.py

@@ -4,7 +4,6 @@
 
 
 class Room:
-
     def __init__(self, name, corners):
         self.name = name
         self.corners = corners
@@ -22,9 +21,7 @@ def __str__(self):
 
 
 class Graph:
-
     def __init__(self):
-
         self.size = 0
         self.adjLists = {}
 

legacy/graph_room_navigation/src/graph_room_navigation/graph_navigation_server.py

@@ -16,7 +16,6 @@
 
 
 class GraphNavigationServer:
-
     def __init__(self, path=""):
         self.graph = Graph()
 

legacy/narrow_space_navigation/src/narrow_space_navigation/waypoints.py

@@ -247,7 +247,6 @@ def get_black_pxl(pixels, threshold=60):
         return np.where(pixels <= threshold)
 
     def has_enough_free_space(self, window):
-
         num_labels, labels, stats, _ = cv2.connectedComponentsWithStats(
             window, connectivity=4, ltype=cv2.CV_32S
         )
@@ -878,7 +877,6 @@ def min_dist_contours(self, filtered_contours, window=None):
         return Pcenter
 
     def find_multiple_cnp(self, window, threshold=60):
-
         window = np.where(window <= threshold, 0, 255).astype(np.uint8)
         # plt.imshow(window, cmap='gray')
         # plt.title('dilation in find multiple cnp')

legacy/read_pcl_info/src/read_pcl_info/pcl_helpers.py

@@ -76,9 +76,9 @@ def filter_laser_scan(laser_scan):
         len(laser_scan.ranges) // 3 : 2 * len(laser_scan.ranges) // 3
     ]
     filtered_ranges = [np.nan] * len(laser_scan.ranges)
-    filtered_ranges[len(laser_scan.ranges) // 3 : 2 * len(laser_scan.ranges) // 3] = (
-        middle_part
-    )
+    filtered_ranges[
+        len(laser_scan.ranges) // 3 : 2 * len(laser_scan.ranges) // 3
+    ] = middle_part
     mean_distance = np.nanmean(filtered_ranges)
 
     return mean_distance, filtered_ranges

skills/src/lasr_skills/ask_and_listen.py

@@ -11,7 +11,6 @@ def __init__(
         tts_phrase: Union[str, None] = None,
         tts_phrase_format_str: Union[str, None] = None,
     ):
-
         if tts_phrase is not None:
             smach.StateMachine.__init__(
                 self,

skills/src/lasr_skills/clip_vqa.py

@@ -5,9 +5,7 @@
 
 
 class QueryImage(smach_ros.ServiceState):
-
     def __init__(self, possible_answers: Union[None, List[str]] = None):
-
         if possible_answers is not None:
             super(QueryImage, self).__init__(
                 "/clip_vqa/query_service",

skills/src/lasr_skills/describe_people.py

@@ -17,7 +17,6 @@
 
 
 class DescribePeople(smach.StateMachine):
-
     def __init__(self):
         smach.StateMachine.__init__(
             self,

skills/src/lasr_skills/detect.py

@@ -10,7 +10,6 @@
 
 
 class Detect(smach.State):
-
     def __init__(
         self,
         image_topic: str = "/xtion/rgb/image_raw",

skills/src/lasr_skills/detect_3d.py

@@ -8,7 +8,6 @@
 
 
 class Detect3D(smach.State):
-
     def __init__(
         self,
         depth_topic: str = "/xtion/depth_registered/points",

skills/src/lasr_skills/detect_3d_in_area.py

@@ -9,9 +9,7 @@
 
 
 class Detect3DInArea(smach.StateMachine):
-
     class FilterDetections(smach.State):
-
         def __init__(self, area_polygon: Polygon):
             smach.State.__init__(
                 self,
@@ -53,7 +51,6 @@ def __init__(
         )
 
         with self:
-
             smach.StateMachine.add(
                 "DETECT_OBJECTS_3D",
                 Detect3D(

skills/src/lasr_skills/find_named_person.py

@@ -11,7 +11,6 @@
 
 
 class FindNamedPerson(smach.StateMachine):
-
     class GetLocation(smach.State):
         def __init__(self):
             smach.State.__init__(
@@ -115,7 +114,6 @@ def __init__(
             waypoints_to_iterate: List[Pose] = waypoints
 
         with self:
-
             smach.StateMachine.add(
                 "GET_POSE",
                 self.GetPose(),
@@ -138,15 +136,13 @@ def __init__(
             )
 
             with waypoint_iterator:
-
                 container_sm = smach.StateMachine(
                     outcomes=["succeeded", "failed", "continue"],
                     input_keys=["location_index", "waypoints"],
                     output_keys=["person_point"],
                 )
 
                 with container_sm:
-
                     smach.StateMachine.add(
                         "GET_LOCATION",
                         self.GetLocation(),

skills/src/lasr_skills/find_person.py

@@ -10,7 +10,6 @@
 
 
 class FindPerson(smach.StateMachine):
-
     class GetLocation(smach.State):
         def __init__(self):
             smach.State.__init__(
@@ -76,7 +75,6 @@ def __init__(self, waypoints: List[Pose]):
         )
 
         with self:
-
             smach.StateMachine.add(
                 "GET_POSE",
                 self.GetPose(),
@@ -99,15 +97,13 @@ def __init__(self, waypoints: List[Pose]):
             )
 
             with waypoint_iterator:
-
                 container_sm = smach.StateMachine(
                     outcomes=["succeeded", "failed", "continue"],
                     input_keys=["location_index", "waypoints"],
                     output_keys=["person_point"],
                 )
 
                 with container_sm:
-
                     smach.StateMachine.add(
                         "GET_LOCATION",
                         self.GetLocation(),

skills/src/lasr_skills/go_to_location.py

@@ -24,13 +24,11 @@
 
 
 class GoToLocation(smach.StateMachine):
-
     def __init__(
         self,
         location: Union[Pose, None] = None,
         location_param: Union[str, None] = None,
     ):
-
         if location is not None or location_param is not None:
             super(GoToLocation, self).__init__(outcomes=["succeeded", "failed"])
         else:
@@ -56,7 +54,6 @@ def __init__(
             )
 
             if not IS_SIMULATION:
-
                 if PUBLIC_CONTAINER:
                     rospy.logwarn(
                         "You are using a public container. The head manager will not be stopped during navigation."
@@ -155,7 +152,6 @@ def __init__(
                 )
 
             if not IS_SIMULATION:
-
                 if PUBLIC_CONTAINER:
                     rospy.logwarn(
                         "You are using a public container. The head manager will not be start following navigation."

skills/src/lasr_skills/handover_object.py

@@ -12,7 +12,6 @@
 
 
 class HandoverObject(smach.StateMachine):
-
     def __init__(self):
         smach.StateMachine.__init__(
             self, outcomes=["succeeded", "failed"], input_keys=["object_name"]

skills/src/lasr_skills/listen_for.py

@@ -9,7 +9,6 @@
 
 class ListenFor(smach_ros.SimpleActionState):
     def __init__(self, wake_word: str):
-
         def speech_result_cb(userdata, status, result):
             if status == GoalStatus.SUCCEEDED:
                 if wake_word in result.sequence.lower():

skills/src/lasr_skills/play_motion.py

@@ -7,7 +7,6 @@
 
 
 class PlayMotion(smach_ros.SimpleActionState):
-
     def _needs_planning(self, motion_name: str) -> bool:
         joints: List[str] = rospy.get_param(
             f"/play_motion/motions/{motion_name}/joints"

skills/src/lasr_skills/receive_object.py

@@ -12,7 +12,6 @@
 
 
 class ReceiveObject(smach.StateMachine):
-
     def __init__(self):
         smach.StateMachine.__init__(
             self, outcomes=["succeeded", "failed"], input_keys=["object_name"]