formatting changes

Author: jmatejcz

src/rai_bench/README.md

@@ -5,9 +5,11 @@
 The RAI Bench is a package including benchmarks and providing frame for creating new benchmarks
 
 ### Components
+
 - `Scenario` - class Defined by a Scene and Task
 - `Benchamrk` - class responsible for running scenarios.
 - `Task` - abstract class for creating specific task. It introduces helper funtions that make it easier to calculate metrics/scores
+
 ### Example implementation
 
 - `o3de_test_bench` - it's example of creating benchmark.

src/rai_bench/rai_bench/benchmark_model.py

@@ -12,24 +12,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import time
 import logging
+import time
 from abc import ABC, abstractmethod
-from typing import TypeVar, Union, List
+from typing import List, TypeVar, Union
 
+from langchain_core.messages import AIMessage, BaseMessage, HumanMessage
 from rclpy.impl.rcutils_logger import RcutilsLogger
 
-from langchain_core.messages import BaseMessage, HumanMessage, AIMessage
-
 from rai.messages import HumanMultimodalMessage
 from rai_sim.simulation_bridge import (
+    PoseModel,
     SimulationBridge,
     SimulationConfig,
-    PoseModel,
     SpawnedEntity,
 )
 
-
 SimulationBridgeT = TypeVar("SimulationBridgeT", bound=SimulationBridge)
 loggers_type = Union[RcutilsLogger, logging.Logger]
 
@@ -167,7 +165,6 @@ def __init__(
     def create_scenarios(
         cls, tasks: List[Task], simulation_configs: List[SimulationConfig]
     ):
-
         scenarios = []
         for task in tasks:
             for sim_conf in simulation_configs:
@@ -191,7 +188,7 @@ def run_next(self, agent):
                 "======================================================================================"
             )
             self._logger.info(
-                f"RUNNING SCENARIO NUMBER {i+1}, TASK: {scenario.task.get_prompt()}"
+                f"RUNNING SCENARIO NUMBER {i + 1}, TASK: {scenario.task.get_prompt()}"
             )
             initial_result = scenario.task.calculate_result(self.simulation_bridge)
             self._logger.info(f"RESULT OF THE INITIAL SETUP: {initial_result}")

src/rai_bench/rai_bench/main.py

@@ -13,32 +13,29 @@
 # limitations under the License.
 
 ########### EXAMPLE USAGE ###########
-import rclpy
 import logging
 import time
-import rclpy.qos
+from pathlib import Path
 
-from rai_bench.benchmark_model import (
-    Benchmark,
-    Scenario,
-)
+import rclpy
+import rclpy.qos
 from rai_open_set_vision.tools import GetGrabbingPointTool
 
 from rai.agents.conversational_agent import create_conversational_agent
 from rai.communication.ros2.connectors import ROS2ARIConnector
 from rai.tools.ros.manipulation import GetObjectPositionsTool, MoveToPointTool
 from rai.tools.ros2.topics import GetROS2ImageTool, GetROS2TopicsNamesAndTypesTool
 from rai.utils.model_initialization import get_llm_model
-from rai_sim.simulation_bridge import Translation
+from rai_bench.benchmark_model import (
+    Benchmark,
+)
+from rai_bench.o3de_test_bench.tasks import GrabCarrotTask, PlaceCubesTask
 from rai_sim.o3de.o3de_bridge import (
     O3DEngineArmManipulationBridge,
     O3DExROS2SimulationConfig,
     PoseModel,
 )
-from rai_bench.o3de_test_bench.tasks import GrabCarrotTask, PlaceCubesTask
-
-from pathlib import Path
-
+from rai_sim.simulation_bridge import Translation
 
 if __name__ == "__main__":
     rclpy.init()
@@ -53,7 +50,7 @@
     You are a robotic arm with interfaces to detect and manipulate objects.
     Here are the coordinates information:
     x - front to back (positive is forward)
-    y - left to right (positive is right)  
+    y - left to right (positive is right)
     z - up to down (positive is up)
     Before starting the task, make sure to grab the camera image to understand the environment.
     """

src/rai_bench/rai_bench/o3de_test_bench/configs/scene1.yaml

@@ -23,4 +23,3 @@ entities:
         y: 0.0
         z: 0.0
         w: 1.0
-

src/rai_bench/rai_bench/o3de_test_bench/configs/scene2.yaml

@@ -48,4 +48,4 @@ entities:
         x: 0.0
         y: 0.0
         z: 0.0
-        w: 1.0
+        w: 1.0

src/rai_bench/rai_bench/o3de_test_bench/configs/scene3.yaml

@@ -22,4 +22,4 @@ entities:
         x: 0.0
         y: 0.0
         z: 0.0
-        w: 1.0
+        w: 1.0

src/rai_bench/rai_bench/o3de_test_bench/configs/scene4.yaml

@@ -47,4 +47,4 @@ entities:
         x: 0.0
         y: 0.0
         z: 0.0
-        w: 1.0
+        w: 1.0

src/rai_bench/rai_bench/o3de_test_bench/tasks/grab_carrot_task.py

@@ -13,10 +13,9 @@
 # limitations under the License.
 
 from rai_bench.benchmark_model import (
-    Task,
     EntitiesMismatchException,
+    Task,
 )
-
 from rai_sim.o3de.o3de_bridge import (
     SimulationBridge,
 )

src/rai_bench/rai_bench/o3de_test_bench/tasks/place_cubes_task.py

@@ -13,10 +13,9 @@
 # limitations under the License.
 
 from rai_bench.benchmark_model import (
-    Task,
     EntitiesMismatchException,
+    Task,
 )
-
 from rai_sim.o3de.o3de_bridge import SimulationBridge, SimulationConfig
 
 

src/rai_core/rai/tools/ros/manipulation.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from typing import Literal, Type
-import time
+
 import numpy as np
 from geometry_msgs.msg import Point, Pose, PoseStamped, Quaternion
 from langchain_core.tools import BaseTool