From cd51c81dd499f6b7abb186da54ea59de5cb19122 Mon Sep 17 00:00:00 2001
From: Kade <kswork9@gmail.com>
Date: Fri, 17 Oct 2025 16:42:22 -0600
Subject: [PATCH] Fixed linting errors

---
 src/urdf/UrdfBox.ts   | 2 +-
 src/urdf/UrdfColor.ts | 2 +-
 src/urdf/UrdfMesh.ts  | 2 +-
 src/urdf/UrdfUtils.ts | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/urdf/UrdfBox.ts b/src/urdf/UrdfBox.ts
index 05167e714..541ee0f8d 100644
--- a/src/urdf/UrdfBox.ts
+++ b/src/urdf/UrdfBox.ts
@@ -20,7 +20,7 @@ export default class UrdfBox {
 
     // Parse the xml string
     const size: Optional<string[]> = xml.getAttribute(UrdfAttrs.Size)?.split(' ');
-    if (!size || size.length !== 3) {
+    if (size?.length !== 3) {
       return;
     }
 
diff --git a/src/urdf/UrdfColor.ts b/src/urdf/UrdfColor.ts
index 850171e4c..b1d34f405 100644
--- a/src/urdf/UrdfColor.ts
+++ b/src/urdf/UrdfColor.ts
@@ -32,7 +32,7 @@ export default class UrdfColor {
   constructor({ xml }: UrdfDefaultOptions) {
     // Parse the xml string
     const rgba: Optional<string[]> = xml.getAttribute(UrdfAttrs.Rgba)?.split(' ');
-    if (!rgba || rgba.length !== 4) {
+    if (rgba?.length !== 4) {
       return;
     }
 
diff --git a/src/urdf/UrdfMesh.ts b/src/urdf/UrdfMesh.ts
index 26f9fdba5..f2d832fe9 100644
--- a/src/urdf/UrdfMesh.ts
+++ b/src/urdf/UrdfMesh.ts
@@ -26,7 +26,7 @@ export default class UrdfMesh {
 
     // Check for a scale
     const scale: Optional<string[]> = xml.getAttribute(UrdfAttrs.Scale)?.split(' ');
-    if (!scale || scale.length !== 3) {
+    if (scale?.length !== 3) {
       return;
     }
 
diff --git a/src/urdf/UrdfUtils.ts b/src/urdf/UrdfUtils.ts
index da52493da..48b04a650 100644
--- a/src/urdf/UrdfUtils.ts
+++ b/src/urdf/UrdfUtils.ts
@@ -7,7 +7,7 @@ export function parseUrdfOrigin(originElement: Element): Pose {
   // Check the XYZ
   const xyz: string[] | undefined = originElement.getAttribute(UrdfAttrs.Xyz)?.split(' ');
   let position: Vector3 = new Vector3();
-  if (xyz && xyz.length === 3) {
+  if (xyz?.length === 3) {
     position = new Vector3({
       x: parseFloat(xyz[0]),
       y: parseFloat(xyz[1]),
@@ -18,7 +18,7 @@ export function parseUrdfOrigin(originElement: Element): Pose {
   // Check the RPY
   const rpy = originElement.getAttribute(UrdfAttrs.Rpy)?.split(' ');
   let orientation = new Quaternion();
-  if (rpy && rpy.length === 3) {
+  if (rpy?.length === 3) {
     // Convert from RPY
     const roll = parseFloat(rpy[0]);
     const pitch = parseFloat(rpy[1]);