chore: licenses and pre-commit

Author: rachwalk

examples/s2s/conversational.py

@@ -27,7 +27,6 @@
 from rai.agents.base import BaseAgent
 from rai.communication import BaseConnector
 from rai.communication.ros2 import IROS2Message, ROS2HRIConnector, TopicConfig
-
 from rai_interfaces.msg import HRIMessage as InterfacesHRIMessage
 
 # NOTE: the Agent code included here is temporary until a dedicated speech agent is created

src/rai_core/rai/communication/http/api.py

@@ -13,11 +13,10 @@
 # limitations under the License.
 
 import asyncio
+import logging
 import threading
 from enum import IntFlag
-from typing import Callable, Optional, Any
-import json
-import logging
+from typing import Callable, Optional
 
 import aiohttp
 from aiohttp import ClientSession, ClientTimeout, web
@@ -153,4 +152,3 @@ def shutdown(self):
             except Exception as e:
                 logging.warning(f"Background request failed or timed out: {e}")
         self.unresolved_futures.clear()
-

src/rai_core/rai/communication/http/connectors/base.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import time
-from functools import partial
 from typing import Any, Callable, Dict, Optional, TypeVar
 
 from aiohttp import web
@@ -76,7 +74,9 @@ def service_call(
             payload=message.payload,
             headers=message.metadata.get("headers"),
         )
-        return self.T_class(payload=ret, method=message.method, metadata={"return_code": code})  # type: ignore[call-arg]
+        return self.T_class(
+            payload=ret, method=message.method, metadata={"return_code": code}
+        )  # type: ignore[call-arg]
 
     def create_service(
         self,

src/rai_core/rai/communication/http/connectors/hri_connector.py

@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Any, Callable, Optional
 
 from rai.communication import HRIConnector
 from rai.communication.http.api import HTTPConnectorMode
@@ -66,12 +65,10 @@ def payload_to_message(data: dict) -> HTTPHRIMessage:
         return HTTPHRIMessage(
             text=data.get("text", ""),
             images=[
-                HTTPHRIMessage._base64_to_image(img)
-                for img in data.get("images", [])
+                HTTPHRIMessage._base64_to_image(img) for img in data.get("images", [])
             ],
             audios=[
-                HTTPHRIMessage._base64_to_audio(aud)
-                for aud in data.get("audios", [])
+                HTTPHRIMessage._base64_to_audio(aud) for aud in data.get("audios", [])
             ],
             message_author=data.get("message_author", "human"),
             communication_id=data.get("communication_id"),

src/rai_core/rai/communication/http/messages.py

@@ -12,7 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Optional, Literal
+from typing import Literal, Optional
+
 from rai.communication.base_connector import BaseMessage
 from rai.communication.hri_connector import HRIMessage
 

src/rai_extensions/rai_perception/rai_perception/components/detection_publisher.py

@@ -29,12 +29,12 @@
 import yaml
 from cv_bridge import CvBridge
 from rai.communication.ros2 import ROS2Connector, ROS2ServiceError
+from rai_interfaces.msg import RAIDetectionArray
+from rai_interfaces.srv import RAIGroundingDino
 from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 from rclpy.qos import qos_profile_sensor_data
 from sensor_msgs.msg import CameraInfo, Image
 
-from rai_interfaces.msg import RAIDetectionArray
-from rai_interfaces.srv import RAIGroundingDino
 from rai_perception.components.perception_utils import enhance_detection_with_3d_pose
 from rai_perception.components.service_utils import (
     check_service_available,

src/rai_extensions/rai_perception/rai_perception/components/gripping_points.py

@@ -45,9 +45,9 @@
 )
 from rai.communication.ros2.connectors import ROS2Connector
 from rai.communication.ros2.ros_async import get_future_result
+from rai_interfaces.srv import RAIGroundedSam, RAIGroundingDino
 from rclpy import Future
 
-from rai_interfaces.srv import RAIGroundedSam, RAIGroundingDino
 from rai_perception.algorithms.point_cloud import depth_to_point_cloud
 from rai_perception.components.perception_utils import convert_depth_to_meters
 

src/rai_extensions/rai_perception/rai_perception/examples/talker.py

@@ -19,9 +19,8 @@
 import numpy as np
 import rclpy
 from cv_bridge import CvBridge
-from rclpy.node import Node
-
 from rai_interfaces.srv import RAIGroundedSam, RAIGroundingDino
+from rclpy.node import Node
 
 
 class GDClientExample(Node):

src/rai_extensions/rai_perception/rai_perception/services/detection_service.py

@@ -28,8 +28,8 @@
 from typing import Optional
 
 from rai.communication.ros2 import ROS2Connector
-
 from rai_interfaces.srv import RAIGroundingDino
+
 from rai_perception.models.detection import get_model
 from rai_perception.services.base_vision_service import BaseVisionService
 

src/rai_extensions/rai_perception/rai_perception/services/segmentation_service.py

@@ -29,8 +29,8 @@
 import numpy as np
 from cv_bridge import CvBridge
 from rai.communication.ros2 import ROS2Connector
-
 from rai_interfaces.srv import RAIGroundedSam
+
 from rai_perception.models.segmentation import get_model
 from rai_perception.services.base_vision_service import BaseVisionService