Black formatting update

pyproject.toml

@@ -44,7 +44,7 @@ rich = "==13.7.1"
 chumpy = "==0.66"
 #mmpose = "==0.24"
 mmpose = {git = "https://github.com/periakiva/mmpose.git", branch="exp"}
-mmcv= "==1.3.8"
+mmcv = "==1.3.8"
 torch = {url = "https://download.pytorch.org/whl/cu111/torch-1.9.1%2Bcu111-cp38-cp38-linux_x86_64.whl"}
 torchvision = {url = "https://download.pytorch.org/whl/cu111/torchvision-0.10.1%2Bcu111-cp38-cp38-linux_x86_64.whl"}
 detectron2 = {url = "https://dl.fbaipublicfiles.com/detectron2/wheels/cu111/torch1.9/detectron2-0.6%2Bcu111-cp38-cp38-linux_x86_64.whl"}

ros/angel_system_nodes/angel_system_nodes/audio/asr.py

@@ -13,7 +13,8 @@
 from sensor_msgs.msg import Image
 
 import nltk
-nltk.download('punkt')
+
+nltk.download("punkt")
 from nltk.tokenize import sent_tokenize
 import rclpy
 
@@ -267,7 +268,7 @@ def _publish_text(self, text: str):
         ):
             # If Angel keyword is not found, don't publish the utterance
             return
-    
+
         self.log.info("Publish thinking feedback")
         self.publish_feedback_response()
 
@@ -282,12 +283,12 @@ def _publish_text(self, text: str):
             index = text.lower().find(word)
             if index != -1:
                 # Remove everything before the word
-                result_text = text[index+6:]
+                result_text = text[index + 6 :]
                 break
-    
+
         published_msg.utterance_text = result_text
 
-        if self.pov_frame is None or len(self.pov_frame)<=1:
+        if self.pov_frame is None or len(self.pov_frame) <= 1:
             published_msg.pov_frame = ""
             self.log.info("No pov frame available")
         else:

ros/angel_system_nodes/angel_system_nodes/audio/question_answerer.py

@@ -114,7 +114,9 @@ def get_response(self, msg: DialogueUtterance, optional_fields: str) -> str:
         response_text = ""
         try:
             if self.is_openai_ready:
-                response_text = self.prompt_gpt(msg.utterance_text, optional_fields, msg.pov_frame)
+                response_text = self.prompt_gpt(
+                    msg.utterance_text, optional_fields, msg.pov_frame
+                )
         except RuntimeError as err:
             self.log.info(err)
             response_text = "I'm sorry. I don't know how to answer your statement."
@@ -156,7 +158,9 @@ def publish_generated_response(
         )
         self._qa_publisher.publish(publish_msg)
 
-    def prompt_gpt(self, question, optional_fields: str, pov_frame: str, model: str = "gpt-4o"):
+    def prompt_gpt(
+        self, question, optional_fields: str, pov_frame: str, model: str = "gpt-4o"
+    ):
         prompt = self.prompt.format(question=question, taskactivity=optional_fields)
         self.log.info(f'Prompting OpenAI with\n{question} with "{optional_fields}"\n')
 
@@ -169,7 +173,9 @@ def prompt_gpt(self, question, optional_fields: str, pov_frame: str, model: str
                 "temperature": 0.0,
                 "max_tokens": 128,
             }
-            self.log.info(f'Prompting OpenAI with\n{question} with "{optional_fields}" without pov frame.\n')
+            self.log.info(
+                f'Prompting OpenAI with\n{question} with "{optional_fields}" without pov frame.\n'
+            )
         else:
             payload = {
                 "model": model,
@@ -193,7 +199,9 @@ def prompt_gpt(self, question, optional_fields: str, pov_frame: str, model: str
                 "temperature": 0.0,
                 "max_tokens": 128,
             }
-            self.log.info(f'Prompting OpenAI with\n{question} with "{optional_fields}" and pov frame.\n')
+            self.log.info(
+                f'Prompting OpenAI with\n{question} with "{optional_fields}" and pov frame.\n'
+            )
 
         req = requests.post(
             "https://api.openai.com/v1/chat/completions",