Fix imports

challenge_cleanup/src/challenge_r5/amigo/self_cleanup.py

@@ -1,11 +1,9 @@
-import smach
-import robot_smach_states
 import random
 
+import robot_smach_states
+import smach
 from robot_skills.util.kdl_conversions import FrameStamped
-from robot_smach_states.util.designators import UnoccupiedArmDesignator, OccupiedArmDesignator, Designator
-
-from PyKDL import Frame
+from robot_smach_states.util.designators import Designator, OccupiedArmDesignator, UnoccupiedArmDesignator
 
 
 class dropPoseDesignator(Designator):
@@ -114,9 +112,9 @@ def __init__(self, robot, selected_entity_designator, location_id, segment_area)
             smach.StateMachine.add('CHECK_ARM_OCCUPIED', ArmOccupied(robot), transitions={"yes": "PLACE", "no": "done"})
 
             smach.StateMachine.add('PLACE',
-                                   robot_smach_states.Place(robot, 
-                                                            selected_entity_designator, 
-                                                            place_pose, 
+                                   robot_smach_states.Place(robot,
+                                                            selected_entity_designator,
+                                                            place_pose,
                                                             OccupiedArmDesignator(robot.arms,
                                                                                   robot.rightArm,
                                                                                   name="occupied_arm_designator")),

challenge_cleanup/src/challenge_r5/amigo/timeout.py

@@ -1,6 +1,6 @@
 import multiprocessing
-import time
 import sys
+import time
 
 
 def _target(queue, function, *args, **kwargs):

challenge_demo/src/demo.py

@@ -4,22 +4,22 @@
 # By Matthijs van der Burgh, 2017
 # ------------------------------------------------------------------------------------------------------------------------
 
-import sys
-import rospy
-import random
-import json
+from __future__ import print_function
 
-import hmi
+import json
+import random
+import sys
 
+import rospy
 from action_server import Client as ActionClient
 
+import hmi
+from robocup_knowledge import load_knowledge
+from robot_skills.util.kdl_conversions import FrameStamped
 from robot_smach_states.navigation import NavigateToWaypoint
 from robot_smach_states.startup import StartChallengeRobust
-from robot_smach_states.utility import WaitForTrigger
 from robot_smach_states.util.designators import EntityByIdDesignator
-
-from robot_skills.util.kdl_conversions import FrameStamped
-from robocup_knowledge import load_knowledge
+from robot_smach_states.utility import WaitForTrigger
 
 
 def task_result_to_report(task_result):

challenge_demo/test/grammar_test.py

@@ -1,11 +1,12 @@
 import os
 import unittest
-from ed_msgs.msg import EntityInfo
-from robot_skills.mockbot import Mockbot
-from robot_skills.util.entity import from_entity_info
+
 from action_server.test_tools import test_grammar
+from ed_msgs.msg import EntityInfo
 
 from robocup_knowledge import load_knowledge
+from robot_skills.mockbot import Mockbot
+from robot_skills.util.entity import from_entity_info
 
 
 class GrammarTest(unittest.TestCase):

challenge_eegpsr/src/add_entities.py

@@ -1,9 +1,9 @@
 #!/usr/bin/python
 
-import rospy
 import itertools
 import os
 
+import rospy
 from fast_simulator import client
 
 if __name__ == "__main__":
@@ -52,7 +52,3 @@
         # People
         W.add_object("person-1", "loy", 4.196,  3.842, 0.0, 0, 0, 1)
         W.add_object("person-2", "loy", 1.416, -5.296, 0.0, 0, 0, 1)
-
-
-
-

challenge_eegpsr/src/eegpsr.py

@@ -4,19 +4,19 @@
 # By Sjoerd van den Dries, 2016
 # ------------------------------------------------------------------------------------------------------------------------
 
+import argparse
 import os
 import sys
-import rospy
-import argparse
 import time
 
+import rospy
+from action_server.command_center import CommandCenter
+
+from robocup_knowledge import load_knowledge
 from robot_skills import get_robot
 from robot_smach_states.navigation import NavigateToWaypoint
-from robot_smach_states.util.designators import EntityByIdDesignator
-from robocup_knowledge import load_knowledge
 from robot_smach_states.startup import StartChallengeRobust
-
-from action_server.command_center import CommandCenter
+from robot_smach_states.util.designators import EntityByIdDesignator
 
 
 # ------------------------------------------------------------------------------------------------------------------------

challenge_eegpsr/src/generate_command.py

@@ -1,13 +1,14 @@
 #! /usr/bin/python
 from __future__ import print_function
 
-import sys
 import os
 import random
+import sys
 from datetime import datetime
 
 from robocup_knowledge import load_knowledge
 
+
 # ----------------------------------------------------------------------------------------------------
 
 class CommandGenerator:

challenge_eegpsr/src/test_recognition.py

@@ -1,14 +1,16 @@
 #! /usr/bin/python
 
+from __future__ import print_function
+
 import os
 import sys
+
 import rospy
+from action_server.command_center import CommandCenter
 
 from robocup_knowledge import load_knowledge
 from robot_skills import get_robot_from_argv
 
-import action_server
-from action_server.command_center import CommandCenter
 
 # ----------------------------------------------------------------------------------------------------
 

challenge_eegpsr/test/navigate_in_front_of.py

@@ -1,6 +1,12 @@
 #!/usr/bin/env python
 
-import rospy, sys, robot_smach_states, random
+from __future__ import print_function
+
+import random
+import robot_smach_states
+import rospy
+import sys
+
 from robot_skills import get_robot_from_argv
 
 if __name__ == "__main__":
@@ -46,6 +52,3 @@
                 robot.speech.speak(segmented_entities.error_msg)
 
         robot.head.close()
-
-
-

challenge_final/scripts/challenge_final

@@ -3,12 +3,10 @@
 # System
 import rospy
 
-# TU/e Robotics
-from robot_smach_states.util.startup import startup
-
 # Challenge where is this
 from challenge_final import Final
-
+# TU/e Robotics
+from robot_smach_states.util.startup import startup
 
 if __name__ == '__main__':
     rospy.init_node('state_machine_rwc2019')

challenge_final/src/challenge_final/clustering.py

@@ -1,11 +1,11 @@
+import matplotlib.pyplot as plt
 import pickle
-from collections import defaultdict
 import pprint
-import numpy as np
+from collections import defaultdict
+from sklearn.cluster import KMeans
 
-import matplotlib.pyplot as plt
+import numpy as np
 
-from sklearn.cluster import KMeans
 
 # ToDo: replace with better algorithm
 

challenge_final/src/challenge_final/display_orders_on_map.py

@@ -1,14 +1,17 @@
+from __future__ import print_function
+
 import os
-import cv2
-import numpy as np
-from datetime import datetime
+import rospkg
 import traceback
+from datetime import datetime
 
+import cv2
+import cv_bridge
+import numpy as np
 # ROS
 import rospy
+
 import smach
-import cv_bridge
-import rospkg
 
 
 def color_map(N=256, normalized=False):
@@ -181,5 +184,3 @@ def execute(self, ud):
 
     sm = DisplayOrdersOnMap(robot=_robot)
     print(sm.execute(user_data))
-
-

challenge_final/src/challenge_final/find_people.py

@@ -3,12 +3,11 @@
 import math
 import os
 import pickle
-
-import numpy as np
 import time
 from collections import deque
 
 # ROS
+import numpy as np
 import PyKDL as kdl
 import rospy
 import smach
@@ -18,7 +17,6 @@
 import robot_smach_states as states
 import robot_smach_states.util.designators as ds
 from robot_skills.util import kdl_conversions
-
 from .clustering import cluster_people
 
 WAYPOINT_ID = "find_people_waypoint"

challenge_final/src/challenge_final/get_orders.py

@@ -1,8 +1,9 @@
+from __future__ import print_function
+
 # ROS
 import rospy
 import smach
 
-
 # TU/e Robotics
 import robot_smach_states as states
 from challenge_final.select_option_for_image import SelectOptionForImage
@@ -177,5 +178,3 @@ def speak(*args, **kwargs):
     print(sm.execute(user_data))
 
     print([person_dict['selection'] for person_dict in user_data['detected_people']])
-
-

challenge_final/src/challenge_final/lightsaber.py

@@ -1,12 +1,10 @@
 # ROS
 from threading import Event
 
-import message_filters
 import rospy
 import smach
 import std_msgs.msg
 from geometry_msgs.msg import PoseStamped
-from sensor_msgs.msg import CameraInfo, Image
 
 # TU/e Robotics
 import robot_smach_states as states

challenge_final/src/challenge_final/navigate_to_and_grab_rack.py

@@ -5,17 +5,18 @@
 # \author Rein Appeldoorn
 import math
 import os
-
 import rospkg
+
 import rospy
 from dynamic_reconfigure.client import Client
 from geometry_msgs.msg import PoseStamped, Quaternion
+from tf.transformations import quaternion_from_euler
+
 from robot_skills import Hero
 from robot_smach_states import NavigateToSymbolic
 from robot_smach_states.navigation.control_to_pose import ControlParameters, ControlToPose
 from robot_smach_states.util.designators import EdEntityDesignator
-from smach import StateMachine, cb_interface, CBState
-from tf.transformations import quaternion_from_euler
+from smach import CBState, StateMachine, cb_interface
 
 
 class GrabRack(StateMachine):

challenge_final/src/challenge_final/select_image_by_letter.py

@@ -7,22 +7,22 @@
 import math
 import os
 import pickle
-import random
+import rospkg
 import time
 from collections import deque
 from datetime import datetime
 
 import PyKDL
 import cv2
 import numpy as np
-import rospkg
 import rospy
 from cv_bridge import CvBridge
 from geometry_msgs.msg import PointStamped
+
+from challenge_find_my_mates.cluster import cluster_people
 from robot_skills import Hero
 from robot_skills.util import kdl_conversions
-from smach import StateMachine, cb_interface, CBState
-from challenge_find_my_mates.cluster import cluster_people
+from smach import CBState, StateMachine, cb_interface
 
 NUM_LOOKS = 2
 PERSON_DETECTIONS = []

challenge_final/src/challenge_final/select_option_for_image.py

@@ -1,18 +1,17 @@
 from __future__ import print_function
 
 import sys
-import cv2
 from threading import Event
 
-# ROS
-import rospy
-import smach
+import cv2
 import cv_bridge
-from std_msgs.msg import String
+import rospy
 from sensor_msgs.msg import Image
-
+from std_msgs.msg import String
 from telegram_ros.msg import Options
 
+import smach
+
 
 class SelectOptionForImage(smach.State):
     def __init__(self, robot, options,
@@ -120,7 +119,6 @@ def _handle_reply(self, msg):
 
 
 if __name__ == '__main__':
-    from robot_skills import get_robot
 
     if len(sys.argv) > 1:
         robot_name = sys.argv[1]
@@ -154,5 +152,3 @@ def speak(*args, **kwargs):
     else:
         print("Please provide robot name as argument.")
         exit(1)
-
-

challenge_final/test/test_find_and_order.py

@@ -1,7 +1,8 @@
 import argparse
+
 import rospy
-import smach
 
+import smach
 from challenge_final import FindPeople, GetOrders
 from robot_skills import get_robot