[Lint] flake8

Among other things, fix syntax for Python 3 compatibility

scripts/start_sot_online_walking.py

@@ -2,16 +2,14 @@
 # O. Stasse 17/01/2020
 # LAAS, CNRS
 
-import os
-import rospy
+import math
 import time
-import roslaunch
-import rospkg
 import unittest
-import math
-
-from gazebo_msgs.srv import *
 
+import roslaunch
+import rospkg
+import rospy
+from gazebo_msgs.srv import GetModelState
 from std_srvs.srv import Empty
 
 PKG_NAME = 'talos_integration_tests'
@@ -58,11 +56,9 @@ class TestSoTTalos(unittest.TestCase):
             talos_data_path + '/launch/talos_gazebo_alone.launch', 'world:=empty_forced', 'enable_leg_passive:=false'
         ]
         roslaunch_args = cli_args[1:]
-        roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments\
-                           (cli_args)[0], roslaunch_args)]
+        roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
 
-        launch_gazebo_alone = roslaunch.parent.\
-            ROSLaunchParent(uuid, roslaunch_file)
+        launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
         launch_gazebo_alone.start()
         rospy.loginfo("talos_gazebo_alone started")
 
@@ -72,31 +68,28 @@ class TestSoTTalos(unittest.TestCase):
 
         time.sleep(5)
         # Spawn talos model in gazebo
-        launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,\
-                [talos_data_path+'/launch/talos_gazebo_spawn_hs.launch'])
-        #launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
+        launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
+            uuid, [talos_data_path + '/launch/talos_gazebo_spawn_hs.launch'])
+        # launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
         #    [ros_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
         launch_gazebo_spawn_hs.start()
         rospy.loginfo("talos_gazebo_spawn_hs started")
 
         rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
         time.sleep(5)
-        gazebo_unpause_physics = rospy.\
-            ServiceProxy('/gazebo/unpause_physics', Empty)
+        gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
         gazebo_unpause_physics()
 
         # Start roscontrol
-        launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,\
-            [talos_data_path+'/launch/talos_bringup.launch'])
+        launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, [talos_data_path + '/launch/talos_bringup.launch'])
 
         launch_bringup.start()
         rospy.loginfo("talos_bringup started")
 
         # Start sot
         roscontrol_sot_talos_path = arospack.get_path('roscontrol_sot_talos')
-        launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,\
-          [roscontrol_sot_talos_path+\
-           '/launch/sot_talos_controller_gazebo.launch'])
+        launch_roscontrol_sot_talos = roslaunch.parent.ROSLaunchParent(
+            uuid, [roscontrol_sot_talos_path + '/launch/sot_talos_controller_gazebo.launch'])
         launch_roscontrol_sot_talos.start()
         rospy.loginfo("roscontrol_sot_talos started")
 
@@ -104,14 +97,12 @@ class TestSoTTalos(unittest.TestCase):
         pkg_name = 'talos_integration_tests'
         executable = 'test_online_walking.py'
         node_name = 'test_online_walking_py'
-        test_sot_online_walking_node = roslaunch.core.\
-            Node(pkg_name, executable,name=node_name)
+        test_sot_online_walking_node = roslaunch.core.Node(pkg_name, executable, name=node_name)
 
         launch_test_sot_online_walking = roslaunch.scriptapi.ROSLaunch()
         launch_test_sot_online_walking.start()
 
-        test_sot_online_walking_process = launch_test_sot_online_walking.\
-            launch(test_sot_online_walking_node)
+        test_sot_online_walking_process = launch_test_sot_online_walking.launch(test_sot_online_walking_node)
 
         r = rospy.Rate(10)
         while not rospy.is_shutdown():

scripts/start_sot_talos_balance.py

@@ -2,16 +2,14 @@
 # O. Stasse 17/01/2020
 # LAAS, CNRS
 
-import os
-import rospy
+import math
 import time
-import roslaunch
-import rospkg
 import unittest
-import math
-
-from gazebo_msgs.srv import *
 
+import roslaunch
+import rospkg
+import rospy
+from gazebo_msgs.srv import GetModelState
 from std_srvs.srv import Empty
 
 PKG_NAME = 'talos_integration_tests'
@@ -67,31 +65,28 @@ class TestSoTTalos(unittest.TestCase):
 
         time.sleep(5)
         # Spawn talos model in gazebo
-        launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,\
-                [talos_data_path+'/launch/talos_gazebo_spawn_hs.launch'])
-        #launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
+        launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
+            uuid, [talos_data_path + '/launch/talos_gazebo_spawn_hs.launch'])
+        # launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
         #    [ros_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
         launch_gazebo_spawn_hs.start()
         rospy.loginfo("talos_gazebo_spawn_hs started")
 
         rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
         time.sleep(5)
-        gazebo_unpause_physics = rospy.\
-            ServiceProxy('/gazebo/unpause_physics', Empty)
+        gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
         gazebo_unpause_physics()
 
         # Start roscontrol
-        launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,\
-            [talos_data_path+'/launch/talos_bringup.launch'])
+        launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, [talos_data_path + '/launch/talos_bringup.launch'])
 
         launch_bringup.start()
         rospy.loginfo("talos_bringup started")
 
         # Start sot
         roscontrol_sot_talos_path = arospack.get_path('roscontrol_sot_talos')
-        launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,\
-          [roscontrol_sot_talos_path+\
-           '/launch/sot_talos_controller_gazebo.launch'])
+        launch_roscontrol_sot_talos = roslaunch.parent.ROSLaunchParent(
+            uuid, [roscontrol_sot_talos_path + '/launch/sot_talos_controller_gazebo.launch'])
         launch_roscontrol_sot_talos.start()
         rospy.loginfo("roscontrol_sot_talos started")
 
@@ -99,14 +94,12 @@ class TestSoTTalos(unittest.TestCase):
         pkg_name = 'talos_integration_tests'
         executable = 'test_sot_talos_balance.py'
         node_name = 'test_sot_talos_balance_py'
-        test_sot_talos_balance_node = roslaunch.core.\
-            Node(pkg_name, executable,name=node_name)
+        test_sot_talos_balance_node = roslaunch.core.Node(pkg_name, executable, name=node_name)
 
         launch_test_sot_talos_balance = roslaunch.scriptapi.ROSLaunch()
         launch_test_sot_talos_balance.start()
 
-        test_sot_talos_balance_process = launch_test_sot_talos_balance.\
-            launch(test_sot_talos_balance_node)
+        test_sot_talos_balance_process = launch_test_sot_talos_balance.launch(test_sot_talos_balance_node)
 
         r = rospy.Rate(10)
         while not rospy.is_shutdown():

scripts/start_talos_gazebo.py

@@ -2,16 +2,14 @@
 # O. Stasse 17/01/2020
 # LAAS, CNRS
 
-import os
-import rospy
+import subprocess
 import time
+
 import roslaunch
 import rospkg
-
+import rospy
 from std_srvs.srv import Empty
 
-# Start roscore
-import subprocess
 roscore = subprocess.Popen('roscore')
 time.sleep(1)
 
@@ -40,7 +38,7 @@ time.sleep(5)
 # Spawn talos model in gazebo
 launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
                                                           [talos_data_path + '/launch/talos_gazebo_spawn_hs.launch'])
-#launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
+# launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
 #                                                          [talos_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
 launch_gazebo_spawn_hs.start()
 rospy.loginfo("talos_gazebo_spawn_hs started")

scripts/start_talos_gazebo_kine.py

@@ -2,16 +2,14 @@
 # O. Stasse 17/01/2020
 # LAAS, CNRS
 
-import os
-import rospy
+import math
 import time
-import roslaunch
-import rospkg
 import unittest
-import math
-
-from gazebo_msgs.srv import *
 
+import roslaunch
+import rospkg
+import rospy
+from gazebo_msgs.srv import GetLinkState
 from std_srvs.srv import Empty
 
 PKG_NAME = 'talos_integration_tests'
@@ -70,30 +68,27 @@ class TestSoTTalos(unittest.TestCase):
 
         time.sleep(5)
         # Spawn talos model in gazebo
-        launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,\
-                        [talos_data_path+'/launch/talos_gazebo_spawn_hs.launch'])
-        #launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
+        launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
+            uuid, [talos_data_path + '/launch/talos_gazebo_spawn_hs.launch'])
+        # launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
         #         [talos_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
         launch_gazebo_spawn_hs.start()
         rospy.loginfo("talos_gazebo_spawn_hs started")
 
         rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
         time.sleep(5)
-        gazebo_unpause_physics = \
-            rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
+        gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
         gazebo_unpause_physics()
 
         # Start roscontrol
-        launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,\
-                        [talos_data_path+'/launch/talos_bringup.launch'])
+        launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, [talos_data_path + '/launch/talos_bringup.launch'])
         launch_bringup.start()
         rospy.loginfo("talos_bringup started")
 
         # Start sot
         roscontrol_sot_talos_path = arospack.get_path('roscontrol_sot_talos')
-        launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,\
-                                [roscontrol_sot_talos_path+\
-                                '/launch/sot_talos_controller_gazebo.launch'])
+        launch_roscontrol_sot_talos = roslaunch.parent.ROSLaunchParent(
+            uuid, [roscontrol_sot_talos_path + '/launch/sot_talos_controller_gazebo.launch'])
         launch_roscontrol_sot_talos.start()
         rospy.loginfo("roscontrol_sot_talos started")
 

scripts/test_appli_seq_play.py

 #!/usr/bin/python
-import sys
+
 import rospy
+from dynamic_graph_bridge_msgs.srv import RunCommand
+from std_srvs.srv import Empty
 
-from std_srvs.srv import *
-from dynamic_graph_bridge_msgs.srv import *
+try:
+    # Python 2
+    input = raw_input
+except NameError:
+    pass
 
 
 def launchScript(code, title, description=""):
-    raw_input(title + ':   ' + description)
+    input(title + ':   ' + description)
     rospy.loginfo(title)
     rospy.loginfo(code)
     for line in code:
-        if line != '' and line[0] != '#':
-            print line
+        if line and not line.strip().startswith('#'):
+            print(line)
             answer = runCommandClient(str(line))
             rospy.logdebug(answer)
-            print answer
+            print(answer)
     rospy.loginfo("...done with " + title)
 
 
@@ -37,11 +42,11 @@ try:
     rospy.loginfo("Stack of Tasks launched")
 
     launchScript(initCode, 'initialize SoT')
-    raw_input("Wait before starting the dynamic graph")
+    input("Wait before starting the dynamic graph")
     runCommandStartDynamicGraph()
 
-    raw_input("Wait before starting the seqplay")
+    input("Wait before starting the seqplay")
     runCommandClient("aSimpleSeqPlay.start()")
 
-except rospy.ServiceException, e:
+except rospy.ServiceException as e:
     rospy.logerr("Service call failed: %s" % e)

scripts/test_kine.py

 #! /usr/bin/env python
 import sys
-import rospy
 import time
-from os.path import abspath, dirname, join
 
-from std_srvs.srv import *
-from dynamic_graph_bridge_msgs.srv import *
+import rospy
+from dynamic_graph_bridge_msgs.srv import RunCommand
+from std_srvs.srv import Empty
 
 runCommandClient = rospy.ServiceProxy('run_command', RunCommand)
 
-from sot_talos_balance.utils.run_test_utils import runCommandClient
-
 
 def handleRunCommandClient(code):
     out = runCommandClient(code)
@@ -60,7 +57,7 @@ def runTest():
 
         time.sleep(10)
 
-    except rospy.ServiceException, e:
+    except rospy.ServiceException as e:
         rospy.logerr("Service call failed: %s" % e)
 
 

scripts/test_online_walking.py

 #! /usr/bin/env python
 import sys
-import rospy
-import rospkg
 import time
-import unittest
-import math
 
-from std_srvs.srv import *
-from dynamic_graph_bridge_msgs.srv import *
-
-from gazebo_msgs.srv import *
+import rospkg
+import rospy
+from sot_talos_balance.utils.run_test_utils import runCommandClient
+from std_srvs.srv import Empty
 
 
 def handleRunCommandClient(code):
@@ -23,12 +19,6 @@ def handleRunCommandClient(code):
 PKG_NAME = 'talos_integration_tests'
 '''Test online walking pattern generator'''
 
-from sys import argv
-from sot_talos_balance.utils.run_test_utils import \
-    run_ft_calibration, run_test, runCommandClient
-
-from time import sleep
-
 
 def wait_for_dynamic_graph():
     try:
@@ -51,8 +41,7 @@ rospack = rospkg.RosPack()
 lpath = rospack.get_path(PKG_NAME)
 print(lpath)
 
-appli_file_name =lpath + '/../../lib/'+PKG_NAME+\
-    '/appli_online_walking.py'
+appli_file_name = lpath + '/../../lib/' + PKG_NAME + '/appli_online_walking.py'
 
 runCommandStartDynamicGraph = rospy.ServiceProxy('start_dynamic_graph', Empty)
 rospy.loginfo("Stack of Tasks launched")
@@ -68,7 +57,7 @@ runCommandStartDynamicGraph()
 
 rospy.loginfo("Stack of Tasks launched")
 
-#run_test(appli_file_name, verbosity=1,interactive=False)
+# run_test(appli_file_name, verbosity=1,interactive=False)
 time.sleep(5)
 
 # Connect ZMP reference and reset controllers

scripts/test_sot_talos_balance.py

 #! /usr/bin/env python
 import sys
-import rospy
 import time
-import unittest
-import math
 from os.path import abspath, dirname, join
 
-from std_srvs.srv import *
-from dynamic_graph_bridge_msgs.srv import *
+import rospy
+from sot_talos_balance.utils.run_test_utils import runCommandClient
+from std_srvs.srv import Empty
 
 
 def handleRunCommandClient(code):
@@ -20,8 +18,6 @@ def handleRunCommandClient(code):
 
 PKG_NAME = 'talos_integration_tests'
 '''Test CoM admittance control as described in paper, with pre-loaded movements'''
-from sot_talos_balance.utils.run_test_utils import  \
-    run_ft_calibration, run_test, runCommandClient
 
 # get the file path for rospy_tutorials
 appli_file_name = join(dirname(abspath(__file__)), 'appli_dcmZmpControl_file.py')

src/talos_integration_tests/appli.py

-from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom, gotoNd
 from dynamic_graph.sot.core.matrix_util import matrixToTuple
+from dynamic_graph.sot.core.meta_tasks_kine import (MetaTaskKine6d, MetaTaskKineCom)
 from numpy import eye