Fixing pre-commits.

kineticsystem · kineticsystem · commit 80cb594e60fb · 2025-09-10T17:37:29.000+02:00
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/backwall_asset.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/backwall_asset.xml
@@ -46,4 +46,4 @@
       </default>
     </default>
   </default>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/backwall_chain.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/backwall_chain.xml
@@ -52,4 +52,4 @@
       mass=".2"
     />
   </body>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/counters_asset.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/counters_asset.xml
@@ -2,10 +2,26 @@
   <compiler inertiafromgeom="auto" inertiagrouprange="4 4" angle="radian" />
 
   <asset>
-    <mesh file="../meshes/cabinetdrawer.stl" name="cabinetdrawer" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/cabinethandle.stl" name="cabinethandle" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/cabinetbase.stl" name="cabinetbase" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/countertop.stl" name="countertop" scale="0.6 0.6 0.6" />
+    <mesh
+      file="../meshes/cabinetdrawer.stl"
+      name="cabinetdrawer"
+      scale="0.6 0.6 0.6"
+    />
+    <mesh
+      file="../meshes/cabinethandle.stl"
+      name="cabinethandle"
+      scale="0.6 0.6 0.6"
+    />
+    <mesh
+      file="../meshes/cabinetbase.stl"
+      name="cabinetbase"
+      scale="0.6 0.6 0.6"
+    />
+    <mesh
+      file="../meshes/countertop.stl"
+      name="countertop"
+      scale="0.6 0.6 0.6"
+    />
     <mesh file="../meshes/faucet.stl" name="faucet" scale="0.6 0.6 0.6" />
 
     <texture
@@ -82,4 +98,4 @@
       </default>
     </default>
   </default>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/counters_chain.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/counters_chain.xml
@@ -11,7 +11,12 @@
     <geom mesh="faucet" pos="0.5424 -0.1032 0.9066" />
     <geom pos="0.54 0.051 1.098" size="0.021 0.03" type="cylinder" />
     <geom pos="0.54 0.051 1.152" size="0.015 0.048" type="capsule" />
-    <geom euler="1.57 0 0" pos="0.54 0.12 1.2" size="0.015 0.066" type="capsule" />
+    <geom
+      euler="1.57 0 0"
+      pos="0.54 0.12 1.2"
+      size="0.015 0.066"
+      type="capsule"
+    />
     <geom pos="0.54 0.1902 1.08" size="0.015 0.12" type="capsule" />
     <geom pos="0.54 0.1902 1.002" size="0.0192 0.042" type="cylinder" />
     <geom
@@ -255,4 +260,4 @@
       mass=".02"
     />
   </body>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/hingecabinet_asset.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/hingecabinet_asset.xml
@@ -71,4 +71,4 @@
       </default>
     </default>
   </default>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/hingecabinet_chain.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/hingecabinet_chain.xml
@@ -244,4 +244,4 @@
       />
     </body>
   </body>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/kettle_asset.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/kettle_asset.xml
@@ -3,7 +3,11 @@
 
   <asset>
     <mesh file="../meshes/kettle.stl" name="kettle" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/kettlehandle.stl" name="kettlehandle" scale="0.6 0.6 0.6" />
+    <mesh
+      file="../meshes/kettlehandle.stl"
+      name="kettlehandle"
+      scale="0.6 0.6 0.6"
+    />
 
     <texture
       name="T_kettle_metal"
@@ -76,4 +80,4 @@
       </default>
     </default>
   </default>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/kettle_chain.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/kettle_chain.xml
@@ -77,4 +77,4 @@
       rgba="1 0 0 1"
     />
   </body>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/microwave_asset.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/microwave_asset.xml
@@ -4,10 +4,22 @@
   <asset>
     <mesh file="../meshes/micro.stl" name="micro" scale="0.6 0.6 0.6" />
     <mesh file="../meshes/microdoor.stl" name="microdoor" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/microbutton.stl" name="microbutton" scale="0.6 0.6 0.6" />
+    <mesh
+      file="../meshes/microbutton.stl"
+      name="microbutton"
+      scale="0.6 0.6 0.6"
+    />
     <mesh file="../meshes/microfeet.stl" name="microfeet" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/microhandle.stl" name="microhandle" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/microwindow.stl" name="microwindow" scale="0.6 0.6 0.6" />
+    <mesh
+      file="../meshes/microhandle.stl"
+      name="microhandle"
+      scale="0.6 0.6 0.6"
+    />
+    <mesh
+      file="../meshes/microwindow.stl"
+      name="microwindow"
+      scale="0.6 0.6 0.6"
+    />
 
     <texture
       name="T_micro_metal"
@@ -70,4 +82,4 @@
       </default>
     </default>
   </default>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/microwave_chain.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/microwave_chain.xml
@@ -115,4 +115,4 @@
       />
     </body>
   </body>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/oven_asset.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/oven_asset.xml
@@ -3,15 +3,35 @@
 
   <asset>
     <mesh file="../meshes/hood.stl" name="hood" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/lightswitch.stl" name="lightswitch" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/lightswitchbase.stl" name="lightswitchbase" scale="0.6 0.6 0.6" />
+    <mesh
+      file="../meshes/lightswitch.stl"
+      name="lightswitch"
+      scale="0.6 0.6 0.6"
+    />
+    <mesh
+      file="../meshes/lightswitchbase.stl"
+      name="lightswitchbase"
+      scale="0.6 0.6 0.6"
+    />
     <mesh file="../meshes/knob.stl" name="knob" scale="0.6 0.6 0.6" />
     <mesh file="../meshes/stoverim.stl" name="stoverim" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/burnerplate.stl" name="burnerplate" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/ovenhandle.stl" name="ovenhandle" scale="0.6 0.6 0.6" />
+    <mesh
+      file="../meshes/burnerplate.stl"
+      name="burnerplate"
+      scale="0.6 0.6 0.6"
+    />
+    <mesh
+      file="../meshes/ovenhandle.stl"
+      name="ovenhandle"
+      scale="0.6 0.6 0.6"
+    />
     <mesh file="../meshes/oven.stl" name="oven" scale="0.6 0.6 0.6" />
     <mesh file="../meshes/oventop.stl" name="oventop" scale="0.6 0.6 0.6" />
-    <mesh file="../meshes/ovenwindow.stl" name="ovenwindow" scale="0.6 0.6 0.6" />
+    <mesh
+      file="../meshes/ovenwindow.stl"
+      name="ovenwindow"
+      scale="0.6 0.6 0.6"
+    />
 
     <texture
       name="T_oven_wood"
@@ -125,4 +145,4 @@
   </equality>
 
   <equality />
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/oven_chain.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/oven_chain.xml
@@ -11,10 +11,22 @@
   />
 
   <body name="ovenroot" childclass="oven" pos="0.069 -0.17526 0.59004">
-    <geom material="oven_black" mesh="burnerplate" pos="-0.144 -0.0714 0.3774" />
-    <geom material="oven_black" mesh="burnerplate" pos="-0.1422 0.1932 0.3774" />
+    <geom
+      material="oven_black"
+      mesh="burnerplate"
+      pos="-0.144 -0.0714 0.3774"
+    />
+    <geom
+      material="oven_black"
+      mesh="burnerplate"
+      pos="-0.1422 0.1932 0.3774"
+    />
     <geom material="oven_black" mesh="burnerplate" pos="0.1224 0.1932 0.3774" />
-    <geom material="oven_black" mesh="burnerplate" pos="0.1236 -0.0714 0.3774" />
+    <geom
+      material="oven_black"
+      mesh="burnerplate"
+      pos="0.1236 -0.0714 0.3774"
+    />
     <geom
       material="oven_black"
       euler="1.57 0 0"
@@ -58,7 +70,11 @@
       type="cylinder"
     />
     <geom material="oven_black" mesh="oventop" pos="-0.0102 0.165 0.3642" />
-    <geom material="oven_black" mesh="ovenwindow" pos="0.58758 0.17526 -0.71262" />
+    <geom
+      material="oven_black"
+      mesh="ovenwindow"
+      pos="0.58758 0.17526 -0.71262"
+    />
     <geom
       material="oven_black"
       pos="-0.0066 -0.1962 -0.03"
@@ -230,7 +246,12 @@
         stiffness="1"
         range="-0.0054 0"
       />
-      <geom material="oven_burner" size="0.06 0.006" type="cylinder" group="1" />
+      <geom
+        material="oven_burner"
+        size="0.06 0.006"
+        type="cylinder"
+        group="1"
+      />
     </body>
     <body name="knob 3" euler="1.57 0 0" pos="-0.0888 0.132 0.8142">
       <joint
@@ -282,7 +303,12 @@
         stiffness="1"
         range="-0.0054 0"
       />
-      <geom material="oven_burner" size="0.06 0.006" type="cylinder" group="1" />
+      <geom
+        material="oven_burner"
+        size="0.06 0.006"
+        type="cylinder"
+        group="1"
+      />
     </body>
     <body name="knob 4" euler="1.57 0 0" pos="-0.1626 0.132 0.8142">
       <joint
@@ -334,7 +360,12 @@
         stiffness="1"
         range="-0.0054 0"
       />
-      <geom material="oven_burner" size="0.06 0.006" type="cylinder" group="1" />
+      <geom
+        material="oven_burner"
+        size="0.06 0.006"
+        type="cylinder"
+        group="1"
+      />
     </body>
   </body>
   <body name="hoodroot" pos="0.06 0.1128 1.398" childclass="oven">
@@ -407,4 +438,4 @@
       />
     </body>
   </body>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/slidecabinet_asset.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/slidecabinet_asset.xml
@@ -53,4 +53,4 @@
       </default>
     </default>
   </default>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/slidecabinet_chain.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/assets/kitchen_assets/item_assets/slidecabinet_chain.xml
@@ -104,4 +104,4 @@
       />
     </body>
   </body>
-</mujocoinclude>
+</mujocoinclude>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/franka3.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/franka3.xml
@@ -408,7 +408,10 @@
   </actuator>
 
   <equality>
-    <joint joint1="fr3_finger_joint1" joint2="fr3_finger_joint2" polycoef="0 1 0 0 0" />
+    <joint
+      joint1="fr3_finger_joint1"
+      joint2="fr3_finger_joint2"
+      polycoef="0 1 0 0 0"
+    />
   </equality>
-  
 </mujoco>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/scene.xml b/src/moveit_pro_franka_configs/franka_arm_sim/description/mujoco/scene.xml
@@ -1,6 +1,5 @@
 <!-- Define your scale factor here -->
 <!-- SCALE = 1.0 for full size, 0.5 for half size, etc. -->
-
 <mujoco model="fr3 scene">
   <!-- Robot -->
   <include file="franka3.xml" />
@@ -60,23 +59,32 @@
       xyaxes="0.510 -0.860 0.000 -0.666 -0.395 -0.633"
     />
 
-    <camera name="scene_camera"
+    <camera
+      name="scene_camera"
       fovy="48"
       resolution="640 480"
-      pos="-0.476 -0.378 2.733" 
+      pos="-0.476 -0.378 2.733"
       xyaxes="0.510 -0.860 0.000 0.666 0.395 0.633"
     />
 
     <!-- Cylindrical pedestal: radius=0.2, length=0.9 (size takes half-length=0.45) -->
     <body name="pedestal" pos="0 0 0">
       <!-- place geom so the cylinder stands from z=0 to z=0.9 -->
-      <geom name="pedestal_geom"
-            type="cylinder"
-            size="0.2 0.45"
-            pos="0 0 0.45"
-            rgba="0.7 0.7 0.7 1"/>
+      <geom
+        name="pedestal_geom"
+        type="cylinder"
+        size="0.2 0.45"
+        pos="0 0 0.45"
+        rgba="0.7 0.7 0.7 1"
+      />
       <!-- useful marker at the top of the pedestal -->
-      <site name="pedestal_top" pos="0 0 0.9" size="0.01" type="sphere" rgba="0.1 0.8 0.1 1"/>
+      <site
+        name="pedestal_top"
+        pos="0 0 0.9"
+        size="0.01"
+        type="sphere"
+        rgba="0.1 0.8 0.1 1"
+      />
     </body>
 
     <body name="desk" pos="0.8 0.1 0" euler="0 0 -1.5708">
@@ -110,7 +118,6 @@
     </body>
   </worldbody>
 
-
   <keyframe>
     <!-- Home position for FR3 robot with gripper
        qpos: 
@@ -140,4 +147,4 @@
       ctrl="0 -0.7854 0 -2.3562 0 1.5707 0.7853 0.035"
     />
   </keyframe>
-</mujoco>
+</mujoco>
diff --git a/src/moveit_pro_franka_configs/franka_arm_sim/package.xml b/src/moveit_pro_franka_configs/franka_arm_sim/package.xml
@@ -16,7 +16,7 @@
   <exec_depend>franka_msgs</exec_depend>
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_studio_behavior</exec_depend>
-  
+
   <test_depend>ament_lint_auto</test_depend>
 
   <test_depend>ament_clang_format</test_depend>
