chore: pre-commit

boczekbartek · boczekbartek · commit 506a8144bb83 · 2025-02-26T17:52:02.000+01:00
diff --git a/config.toml b/config.toml
@@ -10,10 +10,10 @@ embeddings_model = "amazon.titan-embed-text-v1"
 region_name = "us-east-1"
 
 [openai]
-simple_model = "gpt-4o-mini"
-complex_model = "gpt-4o"
+simple_model = "llama3.2-vision-tools"
+complex_model = "llama3.2-vision-tools"
 embeddings_model = "text-embedding-ada-002"
-base_url = "https://api.openai.com/v1/" # for openai compatible apis
+base_url = "http://localhost:11434/v1" # for openai compatible apis
 
 [ollama]
 simple_model = "llama3.2"
diff --git a/examples/agriculture-demo.py b/examples/agriculture-demo.py
@@ -15,6 +15,12 @@
 import argparse
 
 import rclpy
+from rclpy.action import ActionClient
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+from std_srvs.srv import Trigger
+
 from rai.node import RaiStateBasedLlmNode, describe_ros_image
 from rai.tools.ros.native import (
     GetCameraImage,
@@ -24,12 +30,6 @@
     Ros2ShowMsgInterfaceTool,
 )
 from rai.tools.time import WaitForSecondsTool
-from rclpy.action import ActionClient
-from rclpy.callback_groups import ReentrantCallbackGroup
-from rclpy.executors import MultiThreadedExecutor
-from rclpy.node import Node
-from std_srvs.srv import Trigger
-
 from rai_interfaces.action import Task
 
 
diff --git a/examples/manipulation-demo-streamlit.py b/examples/manipulation-demo-streamlit.py
@@ -16,6 +16,7 @@
 
 import streamlit as st
 from langchain_core.messages import AIMessage, HumanMessage, ToolMessage
+
 from rai.agents.integrations.streamlit import get_streamlit_cb, streamlit_invoke
 from rai.messages import HumanMultimodalMessage
 
diff --git a/examples/manipulation-demo.py b/examples/manipulation-demo.py
@@ -17,6 +17,7 @@
 import rclpy
 import rclpy.qos
 from langchain_core.messages import HumanMessage
+
 from rai.agents.conversational_agent import create_conversational_agent
 from rai.node import RaiBaseNode
 from rai.tools.ros.manipulation import GetObjectPositionsTool, MoveToPointTool
diff --git a/examples/rosbot-xl-demo.py b/examples/rosbot-xl-demo.py
@@ -18,6 +18,8 @@
 import rclpy
 import rclpy.executors
 import rclpy.logging
+from rai_open_set_vision.tools import GetDetectionTool, GetDistanceToObjectsTool
+
 from rai.node import RaiStateBasedLlmNode
 from rai.tools.ros.native import (
     GetMsgFromTopic,
@@ -33,7 +35,6 @@
     Ros2RunActionAsync,
 )
 from rai.tools.time import WaitForSecondsTool
-from rai_open_set_vision.tools import GetDetectionTool, GetDistanceToObjectsTool
 
 p = argparse.ArgumentParser()
 p.add_argument("--allowlist", type=Path, required=False, default=None)
diff --git a/examples/taxi-demo.py b/examples/taxi-demo.py
@@ -20,12 +20,12 @@
 from langchain_community.tools.tavily_search import TavilySearchResults
 from langchain_core.messages import BaseMessage, HumanMessage
 from langchain_core.tools import tool
+from std_msgs.msg import String
+
 from rai.agents.conversational_agent import create_conversational_agent
 from rai.tools.ros.cli import Ros2ServiceTool
 from rai.tools.ros.native import Ros2PubMessageTool
 from rai.utils.model_initialization import get_llm_model, get_tracing_callbacks
-from std_msgs.msg import String
-
 from rai_hmi.api import GenericVoiceNode, split_message
 
 system_prompt = """
diff --git a/src/examples/turtlebot4/turtlebot_demo.py b/src/examples/turtlebot4/turtlebot_demo.py
@@ -23,6 +23,7 @@
 import rclpy.qos
 import rclpy.subscription
 import rclpy.task
+
 from rai.node import RaiStateBasedLlmNode
 from rai.tools.ros.native import (
     GetCameraImage,
diff --git a/src/rai_core/rai/tools/ros/utils.py b/src/rai_core/rai/tools/ros/utils.py
@@ -151,7 +151,8 @@ def wait_for_message(
                 if msg_info is not None:
                     return True, msg_info[0]
     finally:
-        node.destroy_subscription(sub)
+        pass
+        # node.destroy_subscription(sub)
 
     return False, None
 
diff --git a/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/gdino_tools.py b/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/gdino_tools.py
@@ -19,17 +19,17 @@
 import rclpy.qos
 import sensor_msgs.msg
 from pydantic import BaseModel, Field
-from rai.node import RaiBaseNode
-from rai.tools.ros import Ros2BaseInput, Ros2BaseTool
-from rai.tools.ros.utils import convert_ros_img_to_ndarray
-from rai.tools.utils import wait_for_message
-from rai.utils.ros_async import get_future_result
 from rclpy.exceptions import (
     ParameterNotDeclaredException,
     ParameterUninitializedException,
 )
 from rclpy.task import Future
 
+from rai.node import RaiBaseNode
+from rai.tools.ros import Ros2BaseInput, Ros2BaseTool
+from rai.tools.ros.utils import convert_ros_img_to_ndarray
+from rai.tools.utils import wait_for_message
+from rai.utils.ros_async import get_future_result
 from rai_interfaces.srv import RAIGroundingDino
 from rai_open_set_vision import GDINO_SERVICE_NAME
 
diff --git a/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py b/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py
@@ -19,16 +19,16 @@
 import rclpy
 import sensor_msgs.msg
 from pydantic import Field
-from rai.node import RaiBaseNode
-from rai.tools.ros import Ros2BaseInput, Ros2BaseTool
-from rai.tools.ros.utils import convert_ros_img_to_base64, convert_ros_img_to_ndarray
-from rai.utils.ros_async import get_future_result
 from rclpy import Future
 from rclpy.exceptions import (
     ParameterNotDeclaredException,
     ParameterUninitializedException,
 )
 
+from rai.node import RaiBaseNode
+from rai.tools.ros import Ros2BaseInput, Ros2BaseTool
+from rai.tools.ros.utils import convert_ros_img_to_base64, convert_ros_img_to_ndarray
+from rai.utils.ros_async import get_future_result
 from rai_interfaces.srv import RAIGroundedSam, RAIGroundingDino
 from rai_open_set_vision import GDINO_SERVICE_NAME
 
diff --git a/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/vision_markup/segmenter.py b/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/vision_markup/segmenter.py
@@ -20,12 +20,13 @@
 import numpy as np
 import torch
 from cv_bridge import CvBridge
-from rai.tools.ros.utils import convert_ros_img_to_ndarray
 from sam2.build_sam import build_sam2
 from sam2.sam2_image_predictor import SAM2ImagePredictor
 from sensor_msgs.msg import Image
 from vision_msgs.msg import BoundingBox2D
 
+from rai.tools.ros.utils import convert_ros_img_to_ndarray
+
 
 class GDSegmenter:
     def __init__(
diff --git a/src/rai_hmi/rai_hmi/agent.py b/src/rai_hmi/rai_hmi/agent.py
@@ -17,11 +17,11 @@
 from typing import List
 
 from langchain.tools import tool
+
 from rai.agents.conversational_agent import create_conversational_agent
 from rai.node import RaiBaseNode
 from rai.tools.ros.native import GetCameraImage, Ros2GetRobotInterfaces
 from rai.utils.model_initialization import get_llm_model
-
 from rai_hmi.base import BaseHMINode
 from rai_hmi.chat_msgs import MissionMessage
 from rai_hmi.task import Task, TaskInput
diff --git a/src/rai_hmi/rai_hmi/base.py b/src/rai_hmi/rai_hmi/base.py
@@ -22,13 +22,13 @@
 from langchain_core.documents import Document
 from langchain_core.tools import BaseTool
 from pydantic import UUID4
-from rai.node import append_whoami_info_to_prompt
-from rai.utils.model_initialization import get_embeddings_model
 from rclpy.action import ActionClient
 from rclpy.node import Node
 from std_msgs.msg import String
 from std_srvs.srv import Trigger
 
+from rai.node import append_whoami_info_to_prompt
+from rai.utils.model_initialization import get_embeddings_model
 from rai_hmi.chat_msgs import (
     MissionAcceptanceMessage,
     MissionDoneMessage,
diff --git a/src/rai_hmi/rai_hmi/ros.py b/src/rai_hmi/rai_hmi/ros.py
@@ -19,9 +19,9 @@
 from typing import Optional, Tuple
 
 import rclpy
-from rai.node import RaiBaseNode
 from rclpy.executors import MultiThreadedExecutor
 
+from rai.node import RaiBaseNode
 from rai_hmi.base import BaseHMINode
 
 
diff --git a/src/rai_hmi/rai_hmi/text_hmi.py b/src/rai_hmi/rai_hmi/text_hmi.py
@@ -33,12 +33,12 @@
 )
 from PIL import Image
 from pydantic import BaseModel
-from rai.messages import HumanMultimodalMessage
-from rai.node import RaiBaseNode
-from rai.utils.artifacts import get_stored_artifacts
 from rclpy.node import Node
 from streamlit.delta_generator import DeltaGenerator
 
+from rai.messages import HumanMultimodalMessage
+from rai.node import RaiBaseNode
+from rai.utils.artifacts import get_stored_artifacts
 from rai_hmi.agent import initialize_agent
 from rai_hmi.base import BaseHMINode
 from rai_hmi.chat_msgs import EMOJIS, MissionMessage
diff --git a/src/rai_hmi/rai_hmi/voice_hmi.py b/src/rai_hmi/rai_hmi/voice_hmi.py
@@ -22,12 +22,12 @@
 
 import rclpy
 from langchain_core.messages import HumanMessage
-from rai.node import RaiBaseNode
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import String
 
+from rai.node import RaiBaseNode
 from rai_hmi.agent import initialize_agent
 from rai_hmi.base import BaseHMINode
 from rai_hmi.text_hmi_utils import Memory
diff --git a/src/rai_whoami/rai_whoami/rai_whoami_node.py b/src/rai_whoami/rai_whoami/rai_whoami_node.py
@@ -18,12 +18,12 @@
 import rclpy
 from ament_index_python.packages import get_package_share_directory
 from langchain_community.vectorstores import FAISS
-from rai.utils.model_initialization import get_embeddings_model
 from rclpy.node import Node
 from rclpy.parameter import Parameter
 from std_srvs.srv import Trigger
 from std_srvs.srv._trigger import Trigger_Request, Trigger_Response
 
+from rai.utils.model_initialization import get_embeddings_model
 from rai_interfaces.srv import VectorStoreRetrieval
 from rai_interfaces.srv._vector_store_retrieval import (
     VectorStoreRetrieval_Request,
diff --git a/tests/communication/ros2/test_api.py b/tests/communication/ros2/test_api.py
@@ -18,15 +18,16 @@
 import pytest
 from action_msgs.msg import GoalStatus
 from action_msgs.srv import CancelGoal
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+
 from rai.communication.ros2.api import (
     ConfigurableROS2TopicAPI,
     ROS2ActionAPI,
     ROS2ServiceAPI,
     ROS2TopicAPI,
     TopicConfig,
 )
-from rclpy.executors import MultiThreadedExecutor
-from rclpy.node import Node
 
 from .helpers import ActionServer_ as ActionServer
 from .helpers import (
diff --git a/tests/communication/ros2/test_connectors.py b/tests/communication/ros2/test_connectors.py
@@ -18,15 +18,16 @@
 import pytest
 from PIL import Image
 from pydub import AudioSegment
+from std_msgs.msg import String
+from std_srvs.srv import SetBool
+
 from rai.communication.ros2.connectors import (
     HRIPayload,
     ROS2ARIConnector,
     ROS2ARIMessage,
     ROS2HRIConnector,
     ROS2HRIMessage,
 )
-from std_msgs.msg import String
-from std_srvs.srv import SetBool
 
 from .helpers import ActionServer_ as ActionServer
 from .helpers import (
diff --git a/tests/communication/sounds_device/test_api.py b/tests/communication/sounds_device/test_api.py
@@ -16,6 +16,7 @@
 import numpy as np
 import pytest
 import sounddevice
+
 from rai.communication.sound_device import (
     SoundDeviceAPI,
     SoundDeviceConfig,
diff --git a/tests/communication/sounds_device/test_connector.py b/tests/communication/sounds_device/test_connector.py
@@ -18,13 +18,14 @@
 import numpy as np
 import pytest
 import sounddevice
+from scipy.io import wavfile
+
 from rai.communication import HRIPayload
 from rai.communication.sound_device import SoundDeviceConfig, SoundDeviceError
 from rai.communication.sound_device.connector import (  # Replace with actual module name
     SoundDeviceConnector,
     SoundDeviceMessage,
 )
-from scipy.io import wavfile
 
 
 @pytest.fixture
diff --git a/tests/communication/test_hri_message.py b/tests/communication/test_hri_message.py
@@ -18,6 +18,7 @@
 from langchain_core.messages import HumanMessage
 from PIL import Image
 from pydub import AudioSegment
+
 from rai.communication import HRIMessage, HRIPayload
 from rai.messages.multimodal import MultimodalMessage as RAIMultimodalMessage
 
diff --git a/tests/conftest.py b/tests/conftest.py
@@ -18,9 +18,10 @@
 
 import pytest
 from _pytest.terminal import TerminalReporter
-from rai.config.models import BEDROCK_CLAUDE_HAIKU, OPENAI_MINI
 from tabulate import tabulate
 
+from rai.config.models import BEDROCK_CLAUDE_HAIKU, OPENAI_MINI
+
 
 @pytest.fixture
 def chat_openai_multimodal():
diff --git a/tests/core/test_rai_cli.py b/tests/core/test_rai_cli.py
@@ -17,6 +17,7 @@
 from unittest.mock import MagicMock, patch
 
 import pytest
+
 from rai.cli.rai_cli import create_rai_ws
 
 
diff --git a/tests/core/test_ros2_tools.py b/tests/core/test_ros2_tools.py
@@ -19,12 +19,13 @@
 import rclpy
 from langchain_core.messages import HumanMessage, SystemMessage
 from langchain_openai.chat_models import ChatOpenAI
-from rai.agents.state_based import create_state_based_agent
-from rai.tools.ros.native import Ros2PubMessageTool
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from std_msgs.msg import String
 
+from rai.agents.state_based import create_state_based_agent
+from rai.tools.ros.native import Ros2PubMessageTool
+
 
 class Subscriber(Node):
     def __init__(self) -> None:
diff --git a/tests/core/test_tool_runner.py b/tests/core/test_tool_runner.py
@@ -16,6 +16,7 @@
 
 from langchain_core.messages import AIMessage, ToolCall, ToolMessage
 from langchain_core.tools import tool
+
 from rai.agents.tool_runner import ToolRunner
 from rai.messages import HumanMultimodalMessage, ToolMultimodalMessage
 from rai.messages.utils import preprocess_image
diff --git a/tests/messages/test_multimodal.py b/tests/messages/test_multimodal.py
@@ -29,6 +29,7 @@
 from langfuse.callback import CallbackHandler
 from pydantic import BaseModel, Field
 from pytest import FixtureRequest
+
 from rai.messages import HumanMultimodalMessage
 from rai.tools.utils import run_requested_tools
 
diff --git a/tests/messages/test_transport.py b/tests/messages/test_transport.py
@@ -20,13 +20,14 @@
 import numpy as np
 import pytest
 import rclpy
-from rai.node import RaiBaseNode
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
 from rclpy.qos import QoSPresetProfiles, QoSProfile
 from sensor_msgs.msg import Image
 from std_msgs.msg import String
 
+from rai.node import RaiBaseNode
+
 
 def get_qos_profiles() -> List[str]:
     ros_distro = os.environ.get("ROS_DISTRO")
diff --git a/tests/messages/test_utils.py b/tests/messages/test_utils.py
@@ -18,6 +18,7 @@
 import numpy as np
 import pytest
 from PIL import Image
+
 from rai.messages.utils import preprocess_image
 
 
diff --git a/tests/tools/ros2/test_action_tools.py b/tests/tools/ros2/test_action_tools.py
diff --git a/tests/tools/ros2/test_service_tools.py b/tests/tools/ros2/test_service_tools.py
diff --git a/tests/tools/ros2/test_topic_tools.py b/tests/tools/ros2/test_topic_tools.py
diff --git a/tests/tools/test_tool_utils.py b/tests/tools/test_tool_utils.py
