fix pylint errors

cob_grasp_generation/scripts/show_grasps_or_client.py

@@ -53,6 +53,6 @@ def show_grasps_client():
 if __name__ == '__main__':
     try:
         rospy.init_node('show_grasp_client')
-        result = show_grasps_client()
+        show_grasps_client()
     except rospy.ROSInterruptException:
         print("program interrupted before completion")

cob_grasp_generation/scripts/show_grasps_rviz_client.py

@@ -50,6 +50,6 @@ def show_grasps_client():
 if __name__ == '__main__':
     try:
         rospy.init_node('show_grasp_client')
-        result = show_grasps_client()
+        show_grasps_client()
     except rospy.ROSInterruptException:
         print("program interrupted before completion")

cob_grasp_generation/src/cob_grasp_generation/analyzegrasp3d.py

@@ -17,7 +17,8 @@
 
 """Analyze Grasp 3D - own module: a collection of several function for analyzing the grasps
 """
-from openravepy import *
+
+from openravepy import poseFromMatrix  # pylint: disable=import-error
 import numpy, time, scipy, csv, os
 import roslib.packages
 

cob_grasp_generation/src/cob_grasp_generation/or_grasp_generation.py

@@ -21,7 +21,8 @@
 from itertools import groupby
 import numpy, time, scipy
 import roslib
-from openravepy import *
+from openravepy import Environment  # pylint: disable=import-error
+from openravepy import databases, options, matrixFromPose  # pylint: disable=import-error
 from cob_grasp_generation import analyzegrasp3d, grasp_query_utils
 
 

cob_moveit_interface/scripts/load_scene_example.py

@@ -16,8 +16,9 @@
 
 
 import rospy
-from tf.transformations import *
-from simple_moveit_interface import *
+from geometry_msgs.msg import PoseStamped
+from tf.transformations import quaternion_from_euler
+from simple_moveit_interface import get_planning_scene_interface, add_ground, clear_objects
 
 
 def gen_pose(frame_id="/odom_combined", pos=[0,0,0], euler=[0,0,0]):
@@ -81,6 +82,5 @@ def gen_pose(frame_id="/odom_combined", pos=[0,0,0], euler=[0,0,0]):
 	psi.remove_world_object("sphere")
 
 	### CLEAR ALL OBJECTS
-	#ToDo: attached objects are not removed
 	clear_objects()
 

cob_moveit_interface/src/simple_moveit_interface/simple_moveit_interface.py

@@ -39,7 +39,6 @@
 def get_transform_listener():
     '''
     Gets the transform listener for this process.
-
     This is needed because tf only allows one transform listener per process. Threadsafe, so
     that two threads could call this at the same time, at it will do the right thing.
     '''
@@ -54,23 +53,22 @@ def get_transform_listener():
 def get_move_group_commander(group):
     '''
     Gets the move_group_commander for this process.
-
     '''
     global _mgc_dict
     with _mgc_dict_creation_lock:
         if not group in _mgc_dict:
             _mgc_group = MoveGroupCommander(group)
             _mgc_group.set_planner_id('RRTConnectkConfigDefault')
             _mgc_dict[group] = _mgc_group
-	    add_ground()
-        return _mgc_dict[group]
+
+    add_ground()
+    return _mgc_dict[group]
 
 
 
 def get_planning_scene_interface():
     '''
     Gets the planning_scene_interface for this process.
-
     '''
     global _psi
     with _psi_creation_lock:
@@ -94,12 +92,12 @@ def add_ground():
     pose.header.frame_id = "base_link"
     psi.attach_box("base_link", "ground", pose, (3, 3, 0.1))
 
-def clear_objects(attach_link):
+#ToDo: attached objects are not removed
+def clear_objects():
     psi = get_planning_scene_interface()
-    psi.remove_attached_object(attach_link)
     psi.remove_world_object("")
 
-def clear_attached_object(attach_link, object_name):
+def clear_attached_object(attach_link, object_name=None):
     psi = get_planning_scene_interface()
     psi.remove_attached_object(link = attach_link, name = object_name)
     psi.remove_world_object(object_name)
@@ -152,11 +150,11 @@ def moveit_cart_goals(group, ref_frame, goal_list, avoid_collisions=True):
 
     if frac == 1.0:
         if mgc.execute(traj):
-		print("Done moving")
-        	return 'succeeded'
-	else:
-		print("Something happened during execution")
-		print('failed')
+            print("Done moving")
+            return 'succeeded'
+        else:
+            print("Something happened during execution")
+            return 'failed'
     else:
         print("Failed to plan full path!")
         return 'failed'
@@ -180,7 +178,6 @@ def moveit_get_current_pose(group):
 ####################################
 
 def get_goal_from_server(group, parameter_name):
-
         ns_global_prefix = "/script_server"
 
         # get joint_names from parameter server
@@ -219,7 +216,6 @@ def get_goal_from_server(group, parameter_name):
                 print("parameter is:",param)
                 return None
 
-
         #no need for trajectories anymore, since planning (will) guarantee collision-free motion!
         point = param[len(param)-1]
 

cob_pick_place_action/scripts/cob_multi_pick_place_client.py

@@ -20,9 +20,10 @@
 from math import pi
 
 import rospy
+import roslib
 import actionlib
 from geometry_msgs.msg import PoseStamped
-from tf.transformations import *
+from tf.transformations import quaternion_from_euler
 import simple_moveit_interface as smi_
 import cob_pick_place_action.msg
 
@@ -39,8 +40,11 @@ def setup_environment():
 	psi = smi_.get_planning_scene_interface()
 	rospy.sleep(1.0)
 
-	#smi_.clear_objects("arm_7_link")
-	smi_.clear_objects("arm_left_7_link")
+
+	#smi_.clear_attached_object("arm_7_link")
+	smi_.clear_attached_object("arm_left_7_link")
+	#smi_.clear_objects()
+	smi_.clear_objects()
 
 	### Add a floor
 	smi_.add_ground()

cob_pick_place_action/scripts/cob_pick_action_client.py

@@ -30,8 +30,10 @@ def setup_environment():
 	psi = smi_.get_planning_scene_interface()
 	rospy.sleep(1.0)
 
-	#smi_.clear_objects("arm_7_link")
-	smi_.clear_objects("arm_left_7_link")
+	#smi_.clear_attached_object("arm_7_link")
+	smi_.clear_attached_object("arm_left_7_link")
+	#smi_.clear_objects()
+	smi_.clear_objects()
 
 	### Add a floor
 	smi_.add_ground()