Making a more minimal, cleaner repo

Author: Federico-PizarroBejarano

.gitignore

@@ -1,6 +1,21 @@
-*.pyc
-*.pdf
-mmseq_control/src/mmseq_control/casadi_c/*
-mmseq_control_new/acados_outputs/*
+# URDF
 *.urdf
-.vscode/*
+
+# Editors
+.vscode/
+.cursor/
+.ruff_cache/
+
+# Acados
+c_generated_code/
+acados_*
+
+# Casadi
+casadi_c*
+
+# Python
+__pycache__/
+*.py[cod]
+
+# Results/output data
+results/

.pre-commit-config.yaml

@@ -8,6 +8,33 @@
 # 'pre-commit run --all'
 
 repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-ast
+      - id: check-yaml
+      - id: check-added-large-files
+        args: ['--maxkb=10000']
+      - id: check-docstring-first
+      - id: check-executables-have-shebangs
+      - id: check-shebang-scripts-are-executable
+      - id: check-merge-conflict
+      - id: debug-statements
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.8.2
+    hooks:
+      - id: ruff
+        args: ["--fix"]
+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: ["--profile", "black"]
+
   - repo: https://github.com/psf/black
     rev: 24.8.0
     hooks:

README.md

@@ -1,5 +1,4 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(mmseq_assets)
+project(mm_assets)
 
 find_package(catkin REQUIRED)
-

mmseq_assets/CMakeLists.txt mm_assets/CMakeLists.txtmmseq_assets/CMakeLists.txt renamed to mm_assets/CMakeLists.txt

@@ -0,0 +1,7 @@
+#!/bin/sh
+
+# Compile xacro versions of URDFs to regular versions for consumption by libraries.
+# This is mainly used to resolve ROS package paths without hardcoding.
+mkdir -p urdf
+xacro xacro/panda.urdf.xacro -o urdf/panda.urdf
+xacro xacro/panda_tray.urdf.xacro -o urdf/panda_tray.urdf

mm_assets/franka_panda/compile_xacro.sh

@@ -236,4 +236,3 @@ f  85//85 86//86 87//87
 f  88//88 89//89 90//90
 f  91//91 92//92 93//93
 f  94//94 95//95 96//96
-

…franka_panda/meshes/collision/finger.obj …franka_panda/meshes/collision/finger.objmmseq_assets/franka_panda/meshes/collision/finger.obj renamed to mm_assets/franka_panda/meshes/collision/finger.obj mmseq_assets/franka_panda/meshes/collision/finger.obj renamed to mm_assets/franka_panda/meshes/collision/finger.obj

@@ -514,4 +514,3 @@ f  25//197 60//197 97//197
 f  82//198 100//198 71//198
 f  43//199 39//199 95//199
 f  100//200 82//200 99//200
-

…s/franka_panda/meshes/collision/hand.obj …s/franka_panda/meshes/collision/hand.objmmseq_assets/franka_panda/meshes/collision/hand.obj renamed to mm_assets/franka_panda/meshes/collision/hand.obj mmseq_assets/franka_panda/meshes/collision/hand.obj renamed to mm_assets/franka_panda/meshes/collision/hand.obj

@@ -514,4 +514,3 @@ f  62//197 87//197 60//197
 f  97//198 87//198 95//198
 f  71//199 87//199 7//199
 f  88//200 87//200 76//200
-

…/franka_panda/meshes/collision/link0.obj …/franka_panda/meshes/collision/link0.objmmseq_assets/franka_panda/meshes/collision/link0.obj renamed to mm_assets/franka_panda/meshes/collision/link0.obj mmseq_assets/franka_panda/meshes/collision/link0.obj renamed to mm_assets/franka_panda/meshes/collision/link0.obj

@@ -763,4 +763,3 @@ f  119//296 116//296 151//296
 f  151//296 138//297 119//296
 f  151//298 87//298 7//298
 f  70//299 48//299 151//299
-

…/franka_panda/meshes/collision/link1.obj …/franka_panda/meshes/collision/link1.objmmseq_assets/franka_panda/meshes/collision/link1.obj renamed to mm_assets/franka_panda/meshes/collision/link1.obj mmseq_assets/franka_panda/meshes/collision/link1.obj renamed to mm_assets/franka_panda/meshes/collision/link1.obj

@@ -762,4 +762,3 @@ f  98//295 147//295 118//295
 f  143//296 151//296 149//296
 f  151//297 152//297 149//297
 f  148//298 135//298 144//298
-