Apply codestyle

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/animation_capsule.py

@@ -4,12 +4,13 @@
 
 Communicates with the animation action server and plays predefined animations.
 """
-from bitbots_msgs.action import Dynup, LookAt, PlayAnimation
 from rclpy.action import ActionClient
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.duration import Duration
 from rclpy.node import Node
 
+from bitbots_msgs.action import Dynup, LookAt, PlayAnimation
+
 
 class AnimationCapsule:
     def __init__(self, node: Node):

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py

@@ -4,10 +4,11 @@
 
 Provides information about the current game state.
 """
-from bitbots_msgs.msg import GameState
 from bitbots_utils.utils import get_parameters_from_other_node
 from rclpy.node import Node
 
+from bitbots_msgs.msg import GameState
+
 
 class GameStatusCapsule:
     def __init__(self, node: Node):

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py

@@ -9,12 +9,13 @@
 if TYPE_CHECKING:
     from bitbots_blackboard.blackboard import BodyBlackboard
 
-from bitbots_msgs.action import Kick
 from rclpy.action import ActionClient
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.duration import Duration
 from rclpy.time import Time
 
+from bitbots_msgs.action import Kick
+
 
 class KickCapsule:
     __blackboard: "BodyBlackboard"

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py

@@ -6,12 +6,13 @@
 """
 from typing import Optional
 
-from bitbots_msgs.msg import HeadMode, RobotControlState
 from bitbots_utils.utils import get_parameters_from_other_node
 from rclpy.duration import Duration
 from rclpy.node import Node
 from std_msgs.msg import Bool
 
+from bitbots_msgs.msg import HeadMode, RobotControlState
+
 
 class MiscCapsule:
     def __init__(self, node: Node):

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py

@@ -5,7 +5,6 @@
 from typing import Dict, List, Optional, Tuple
 
 import numpy as np
-from bitbots_msgs.msg import Strategy, TeamData
 from bitbots_utils.utils import get_parameters_from_other_node
 from geometry_msgs.msg import PointStamped, Pose
 from rclpy.clock import ClockType
@@ -15,6 +14,8 @@
 from ros2_numpy import numpify
 from std_msgs.msg import Float32
 
+from bitbots_msgs.msg import Strategy, TeamData
+
 
 class TeamDataCapsule:
     def __init__(self, node: Node):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/avoid_ball.py

@@ -1,8 +1,7 @@
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from std_msgs.msg import Bool
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class AvoidBall(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/change_action.py

@@ -1,7 +1,7 @@
-from bitbots_msgs.msg import Strategy
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
-from bitbots_blackboard.blackboard import BodyBlackboard
+from bitbots_msgs.msg import Strategy
 
 
 class ChangeAction(AbstractActionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/change_role.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_action_element import AbstractActionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
 
 class ChangeRole(AbstractActionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/deactivate_hcm.py

@@ -1,8 +1,7 @@
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from std_msgs.msg import Bool
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class DeactivateHCM(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/dribble_forward.py

@@ -1,9 +1,8 @@
 import numpy as np
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from geometry_msgs.msg import Twist
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class DribbleForward(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/forget_ball.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_action_element import AbstractActionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
 
 class ForgetBall(AbstractActionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/get_walkready.py

@@ -1,8 +1,8 @@
 import rclpy
-from bitbots_msgs.action import Dynup
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
-from bitbots_blackboard.blackboard import BodyBlackboard
+from bitbots_msgs.action import Dynup
 
 
 class GetWalkready(AbstractActionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to.py

@@ -2,13 +2,12 @@
 
 import numpy as np
 import tf2_ros as tf2
+from bitbots_blackboard.blackboard import BodyBlackboard
 from bitbots_utils.transforms import quat_from_yaw
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from geometry_msgs.msg import PoseStamped
 from rclpy.duration import Duration
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class GoToRelativePosition(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_ball.py

@@ -1,12 +1,11 @@
+from bitbots_blackboard.blackboard import BodyBlackboard
+from bitbots_blackboard.capsules.pathfinding_capsule import BallGoalType
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from geometry_msgs.msg import Vector3
 from rclpy.duration import Duration
 from std_msgs.msg import ColorRGBA
 from visualization_msgs.msg import Marker
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-from bitbots_blackboard.capsules.pathfinding_capsule import BallGoalType
-
 
 class GoToBall(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_block_position.py

@@ -1,8 +1,7 @@
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from tf2_geometry_msgs import PoseStamped
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class GoToBlockPosition(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_corner_kick_position.py

@@ -1,12 +1,11 @@
 import math
 
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from geometry_msgs.msg import Quaternion
 from tf2_geometry_msgs import PoseStamped
 from tf_transformations import quaternion_from_euler
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class GoToCornerKickPosition(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_defense_position.py

@@ -1,13 +1,12 @@
 import math
 
 import numpy as np
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from geometry_msgs.msg import Quaternion
 from tf2_geometry_msgs import PoseStamped
 from tf_transformations import quaternion_from_euler
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class GoToDefensePosition(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_pass_position.py

@@ -1,9 +1,8 @@
+from bitbots_blackboard.blackboard import BodyBlackboard
 from bitbots_utils.transforms import quat_from_yaw
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from tf2_geometry_msgs import PoseStamped
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class AbstractGoToPassPosition(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_role_position.py

@@ -1,8 +1,7 @@
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from tf2_geometry_msgs import PoseStamped
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class GoToRolePosition(AbstractActionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/head_modes.py

@@ -1,9 +1,9 @@
 import rclpy
-from bitbots_msgs.action import LookAt
-from bitbots_msgs.msg import HeadMode
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
-from bitbots_blackboard.blackboard import BodyBlackboard
+from bitbots_msgs.action import LookAt
+from bitbots_msgs.msg import HeadMode
 
 
 class AbstractHeadModeElement(AbstractActionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/kick_ball.py

@@ -1,8 +1,8 @@
-from bitbots_msgs.action import Kick
+from bitbots_blackboard.blackboard import BodyBlackboard
 from bitbots_utils.transforms import quat_from_yaw
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
-from bitbots_blackboard.blackboard import BodyBlackboard
+from bitbots_msgs.action import Kick
 
 
 class AbstractKickAction(AbstractActionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/play_animation.py

@@ -1,8 +1,7 @@
 from abc import ABC, abstractmethod
 
-from dynamic_stack_decider.abstract_action_element import AbstractActionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
 
 class AbstractPlayAnimation(AbstractActionElement, ABC):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/stand.py

@@ -1,11 +1,10 @@
 import random
 
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from geometry_msgs.msg import Twist
 from rclpy.duration import Duration
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class CancelPathplanning(AbstractActionElement):
     """Only cancel the pathplanning goal without completly stopping the walking"""

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/timer.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_action_element import AbstractActionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
 
 class StartTimer(AbstractActionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/turn.py

@@ -1,12 +1,11 @@
 import math
 from typing import Optional
 
+from bitbots_blackboard.blackboard import BodyBlackboard
 from bitbots_utils.transforms import quat_from_yaw
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from geometry_msgs.msg import PoseStamped, Twist
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class TurnAround(AbstractActionElement):
     def __init__(self, blackboard, dsd, parameters=None):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/body_behavior.py

@@ -13,7 +13,7 @@
 import rclpy
 import tf2_ros as tf2
 from ament_index_python import get_package_share_directory
-from bitbots_msgs.msg import GameState, RobotControlState, TeamData
+from bitbots_blackboard.blackboard import BodyBlackboard
 from bitbots_tf_listener import TransformListener
 from dynamic_stack_decider.dsd import DSD
 from geometry_msgs.msg import PoseWithCovarianceStamped, Twist, TwistWithCovarianceStamped
@@ -23,7 +23,7 @@
 from rclpy.node import Node
 from soccer_vision_3d_msgs.msg import RobotArray
 
-from bitbots_blackboard.blackboard import BodyBlackboard
+from bitbots_msgs.msg import GameState, RobotControlState, TeamData
 
 
 class BodyDSD:

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/aligned_to_goal.py

@@ -1,8 +1,7 @@
 import math
 
-from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 
 class AlignedToGoal(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/avoid_ball.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 
 class AvoidBall(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_close.py

@@ -1,8 +1,7 @@
 import math
 
-from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 
 class BallClose(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_dangerous.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 
 class BallDangerous(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_in_defensive_area.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 
 class BallInDefensiveArea(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_kick_area.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 
 class BallKickArea(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_seen.py

@@ -1,8 +1,7 @@
+from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 from rclpy.duration import Duration
 
-from bitbots_blackboard.blackboard import BodyBlackboard
-
 
 class BallSeen(AbstractDecisionElement):
     blackboard: BodyBlackboard

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/closest_to_ball.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 
 class ClosestToBallNoGoalie(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/config_role.py

@@ -1,6 +1,5 @@
-from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
 from bitbots_blackboard.blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 
 class ConfigRole(AbstractDecisionElement):