Reformat

LASR-at-Home · Jul 24, 2024 · 4c78a9c · 4c78a9c
1 parent dbab829
commit 4c78a9c
Show file tree

Hide file tree

Showing 4 changed files with 162 additions and 21 deletions.
diff --git a/common/navigation/lasr_person_following/src/lasr_person_following/person_following.py b/common/navigation/lasr_person_following/src/lasr_person_following/person_following.py
@@ -350,7 +350,11 @@ def _check_finished(self) -> bool:
                 )
                 transcription = self._transcribe_speech_client.get_result().sequence
 
-                return "yes" in transcription.lower() or "arrived" in transcription.lower() or "arrive" in transcription.lower()
+                return (
+                    "yes" in transcription.lower()
+                    or "arrived" in transcription.lower()
+                    or "arrive" in transcription.lower()
+                )
         return True
 
     def _get_pose_on_path(

diff --git a/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py b/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py
@@ -193,19 +193,27 @@ def wait_cb(ud, msg):
 
             def start_pose_cb(ud):
                 try:
-                    ud.start_pose = rospy.wait_for_message("/robot_pose", PoseWithCovarianceStamped, timeout=rospy.Duration(5.0)).pose.pose
+                    ud.start_pose = rospy.wait_for_message(
+                        "/robot_pose",
+                        PoseWithCovarianceStamped,
+                        timeout=rospy.Duration(5.0),
+                    ).pose.pose
                 except rospy.ROSException:
                     rospy.logerr("Failed to get robot pose")
-                    ud.start_pose = Pose(position=Point(0., 0., 0.0), orientation=Quaternion(0., 0., 0., 1.))
+                    ud.start_pose = Pose(
+                        position=Point(0.0, 0.0, 0.0),
+                        orientation=Quaternion(0.0, 0.0, 0.0, 1.0),
+                    )
                 return "succeeded"
+
             smach.StateMachine.add(
                 "GET_START_LOCATION",
                 smach.CBState(
                     start_pose_cb,
                     outcomes=["succeeded"],
                     output_keys=["start_pose"],
                 ),
-                transitions={"succeeded": "SAY_STEP"}
+                transitions={"succeeded": "SAY_STEP"},
             )
 
             smach.StateMachine.add(
@@ -261,8 +269,8 @@ def start_pose_cb(ud):
             )
 
             smach.StateMachine.add(
-                "GO_TO_START", # todo: instead, get the start position within the state machine, and return to it at the end
+                "GO_TO_START",  # todo: instead, get the start position within the state machine, and return to it at the end
                 GoToLocation(),
-                remapping={"location" : "start_pose"},
+                remapping={"location": "start_pose"},
                 transitions={"succeeded": "succeeded", "failed": "succeeded"},
             )
diff --git a/tasks/gpsr/src/gpsr/states/object_comparison.py b/tasks/gpsr/src/gpsr/states/object_comparison.py
@@ -19,16 +19,133 @@ class ObjectComparison(smach.StateMachine):
 
     # TODO: fill this in
 
-    _smallest_list: List[str] = ["dishwasher_tab", "candle", "strawberry", "tictac", "plum", "lemon", "pear", "peach", "orange", "apple", "sponges", "fork", "knife", "spoon", "banana", "dubbelfris", "cola", "ice_tea", "fanta", "milk", "pea_soup", "sausages", "cup", "stroopwafel", "soap", "curry", "water", "crisps", "liquorice", "candy", "hagelslag", "pancake_mix", "mayonaise", "bowl", "plate", "washcloth", "pringles", "big_coke" ]
+    _smallest_list: List[str] = [
+        "dishwasher_tab",
+        "candle",
+        "strawberry",
+        "tictac",
+        "plum",
+        "lemon",
+        "pear",
+        "peach",
+        "orange",
+        "apple",
+        "sponges",
+        "fork",
+        "knife",
+        "spoon",
+        "banana",
+        "dubbelfris",
+        "cola",
+        "ice_tea",
+        "fanta",
+        "milk",
+        "pea_soup",
+        "sausages",
+        "cup",
+        "stroopwafel",
+        "soap",
+        "curry",
+        "water",
+        "crisps",
+        "liquorice",
+        "candy",
+        "hagelslag",
+        "pancake_mix",
+        "mayonaise",
+        "bowl",
+        "plate",
+        "washcloth",
+        "pringles",
+        "big_coke",
+    ]
     _biggest_list: List[str] = reversed(_smallest_list)
 
     _largest_list: List[str] = _biggest_list
 
-    _heaviest_list: List[str] = ["big_coke", "pea_soup", "milk", "mayonaise", "cola", "ice_tea", "fanta", "dubbelfris", "water", "pancake_mix", "curry", "soap", "sausages", "apple", "orange", "peach", "pear", "lemon", "plum", "banana", "stroopwafel", "cup", "bowl", "plate", "washcloth", "sponges", "pringles", "crisps", "hagelslag", "liquorice", "candy", "knife", "fork", "spoon", "candle", "strawberry", "tictac", "dishwasher_tab"]
+    _heaviest_list: List[str] = [
+        "big_coke",
+        "pea_soup",
+        "milk",
+        "mayonaise",
+        "cola",
+        "ice_tea",
+        "fanta",
+        "dubbelfris",
+        "water",
+        "pancake_mix",
+        "curry",
+        "soap",
+        "sausages",
+        "apple",
+        "orange",
+        "peach",
+        "pear",
+        "lemon",
+        "plum",
+        "banana",
+        "stroopwafel",
+        "cup",
+        "bowl",
+        "plate",
+        "washcloth",
+        "sponges",
+        "pringles",
+        "crisps",
+        "hagelslag",
+        "liquorice",
+        "candy",
+        "knife",
+        "fork",
+        "spoon",
+        "candle",
+        "strawberry",
+        "tictac",
+        "dishwasher_tab",
+    ]
 
     _lightest_list: List[str] = reversed(_heaviest_list)
 
-    _thinnest_list: List[str] = ["knife", "fork", "spoon", "candle", "strawberry", "tictac", "dishwasher_tab", "liquorice", "candy", "crisps", "stroopwafel", "soap", "sponges", "washcloth", "plate", "bowl", "cup", "pancake_mix", "hagelslag", "curry", "mayonaise", "pea_soup", "sausages", "milk", "water", "dubbelfris", "cola", "ice_tea", "fanta", "big_coke", "apple", "orange", "peach", "pear", "lemon", "plum", "banana", "pringles"]
+    _thinnest_list: List[str] = [
+        "knife",
+        "fork",
+        "spoon",
+        "candle",
+        "strawberry",
+        "tictac",
+        "dishwasher_tab",
+        "liquorice",
+        "candy",
+        "crisps",
+        "stroopwafel",
+        "soap",
+        "sponges",
+        "washcloth",
+        "plate",
+        "bowl",
+        "cup",
+        "pancake_mix",
+        "hagelslag",
+        "curry",
+        "mayonaise",
+        "pea_soup",
+        "sausages",
+        "milk",
+        "water",
+        "dubbelfris",
+        "cola",
+        "ice_tea",
+        "fanta",
+        "big_coke",
+        "apple",
+        "orange",
+        "peach",
+        "pear",
+        "lemon",
+        "plum",
+        "banana",
+        "pringles",
+    ]
 
     _query: Literal[
         "biggest", "largest", "smallest", "heaviest", "lightest", "thinnest"

diff --git a/tasks/receptionist/src/receptionist/states/speech_recovery.py b/tasks/receptionist/src/receptionist/states/speech_recovery.py
@@ -18,15 +18,15 @@ def __init__(
         last_resort: bool,
         input_type: str = "",
     ):
-        """Recover the correct name and / or drink by parsing the transcription. 
+        """Recover the correct name and / or drink by parsing the transcription.
 
         Args:
             guest_id (str): ID of the guest (identifying the guest)
             last_resort (bool): Whether the program must recover a name or drink
             input_type (str, optional): The type of information to try and extract useful information
             (drink or name)
         """
-        
+
         smach.State.__init__(
             self,
             outcomes=["succeeded", "failed"],
@@ -186,8 +186,8 @@ def _handle_name(self, sentence_list: List[str], last_resort: bool) -> str:
             return self._handle_closest_spelt(sentence_list, self._available_names)
 
     def _handle_drink(self, sentence_list: List[str], last_resort: bool) -> str:
-        """Attempt to recover the drink in the transcription. For phrases containing two words, try to infer the 
-        second word in the phrase. If this fails, attempt to recover the drink via spelling, then pronounciation. 
+        """Attempt to recover the drink in the transcription. For phrases containing two words, try to infer the
+        second word in the phrase. If this fails, attempt to recover the drink via spelling, then pronounciation.
         Enter last resort if necessary and recover the closest spelt drink.
 
         Args:
@@ -233,9 +233,14 @@ def _handle_drink(self, sentence_list: List[str], last_resort: bool) -> str:
                     sentence_list.append(closest_spelt)
                     return self._infer_second_drink(sentence_list)
 
-    def _handle_similar_spelt(self, sentence_list: List[str], available_words: List[str], distance_threshold: int) -> str:
-        """Recover any word by spelling that has a similarity lower than the specified threshold 
-        when comparing each word in the sentence list to the list of available words. 
+    def _handle_similar_spelt(
+        self,
+        sentence_list: List[str],
+        available_words: List[str],
+        distance_threshold: int,
+    ) -> str:
+        """Recover any word by spelling that has a similarity lower than the specified threshold
+        when comparing each word in the sentence list to the list of available words.
 
         Args:
             sentence_list (List[str]): Transcription split up as a list of strings.
@@ -254,9 +259,14 @@ def _handle_similar_spelt(self, sentence_list: List[str], available_words: List[
                     return available_word
         return "unknown"
 
-    def _handle_similar_sound(self, sentence_list: List[str], available_words: List[str], distance_threshold: int) -> str:
-        """Recover any word by pronounciation that has a similarity lower than the specified threshold 
-        when comparing each word in the sentence list to the list of available words. 
+    def _handle_similar_sound(
+        self,
+        sentence_list: List[str],
+        available_words: List[str],
+        distance_threshold: int,
+    ) -> str:
+        """Recover any word by pronounciation that has a similarity lower than the specified threshold
+        when comparing each word in the sentence list to the list of available words.
 
         Args:
             sentence_list (List[str]): Transcription split up as a list of strings.
@@ -292,8 +302,10 @@ def _infer_second_drink(self, sentence_list: List[str]) -> str:
                     return self._double_drinks_dict[input_word]
         return "unknown"
 
-    def _handle_closest_spelt(self, sentence_list: List[str], choices: List[str]) -> str:
-        """Get the closest spelt word from the list of choices (drinks or names) 
+    def _handle_closest_spelt(
+        self, sentence_list: List[str], choices: List[str]
+    ) -> str:
+        """Get the closest spelt word from the list of choices (drinks or names)
         in the sentence list (transcription).
 
         Args: