Revert "Add an XML linter to pre-commit (#353)"

This reverts commit bd91f5f.
PickNikRobotics · Aug 27, 2024 · 4ceec07 · 4ceec07
1 parent bd91f5f
commit 4ceec07
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -72,14 +72,3 @@ repos:
     rev: v2.10.0
     hooks:
       - id: hadolint-docker
-
-  - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: "v3.1.0"
-    hooks:
-      # Use Prettier to lint XML files because, well.. its rules are prettier than most linters, as the name implies.
-      # Also we use it in the UI, so it's familiar.
-      - id: prettier
-        additional_dependencies:
-          - "prettier@3.1.0"
-          - "@prettier/plugin-xml@3.3.1"
-        files: \.(xml|xacro)$
diff --git a/.prettierrc.cjs b/.prettierrc.cjs
diff --git a/src/mobile_manipulation_config/launch/agent_bridge.launch.xml b/src/mobile_manipulation_config/launch/agent_bridge.launch.xml
@@ -1,9 +1,5 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-  <include
-    file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"
-  />
+    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
+    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
 </launch>
diff --git a/src/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml b/src/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
@@ -1,23 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="00 Solution - Move to Initial Pose"
->
+<?xml version='1.0' encoding='UTF-8'?>
+<root BTCPP_format="4" main_tree_to_execute="00 Solution - Move to Initial Pose">
   <!--//////////-->
-  <BehaviorTree
-    ID="00 Solution - Move to Initial Pose"
-    _description="Move to a pre-defined waypoint"
-    _favorite="true"
-    _hardcoded="false"
-  >
+  <BehaviorTree ID="00 Solution - Move to Initial Pose" _description="Move to a pre-defined waypoint" _favorite="true" _hardcoded="false">
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Look at Wall"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
+      <SubTree ID="Move to Waypoint" waypoint_name="Look at Wall" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml b/src/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml
@@ -1,18 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="01 Solution - Create a Pose">
   <!--//////////-->
-  <BehaviorTree
-    ID="01 Solution - Create a Pose"
-    _description="Creates a pose relative to a frame"
-    _favorite="true"
-  >
+  <BehaviorTree ID="01 Solution - Create a Pose" _description="Creates a pose relative to a frame" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;0"
-        reference_frame="grasp_link"
-      />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;0" reference_frame="grasp_link"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml b/src/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml
@@ -1,19 +1,10 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="02 Solution - Visualize a Pose">
   <!--//////////-->
-  <BehaviorTree
-    ID="02 Solution - Visualize a Pose"
-    _description="Creates a pose and visualizes it"
-    _favorite="true"
-  >
+  <BehaviorTree ID="02 Solution - Visualize a Pose" _description="Creates a pose and visualizes it" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;0"
-        reference_frame="grasp_link"
-      />
-      <Action ID="VisualizePose" marker_size="0.200000" />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;0" reference_frame="grasp_link"/>
+      <Action ID="VisualizePose" marker_size="0.200000"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml b/src/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml
@@ -1,22 +1,10 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="03 Solution - Pose 2m above the robot"
->
+<?xml version='1.0' encoding='UTF-8'?>
+<root BTCPP_format="4" main_tree_to_execute="03 Solution - Pose 2m above the robot">
   <!--//////////-->
-  <BehaviorTree
-    ID="03 Solution - Pose 2m above the robot"
-    _description="Creates a visualizes a pose 2m right above the robot 'base_link'"
-    _favorite="true"
-  >
+  <BehaviorTree ID="03 Solution - Pose 2m above the robot" _description="Creates a visualizes a pose 2m right above the robot 'base_link'" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;2"
-        reference_frame="base_link"
-      />
-      <Action ID="VisualizePose" marker_size="0.200000" />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;2" reference_frame="base_link"/>
+      <Action ID="VisualizePose" marker_size="0.200000"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/04_solution_-_move_to_a_pose.xml b/src/mobile_manipulation_config/objectives/04_solution_-_move_to_a_pose.xml
@@ -1,25 +1,11 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="04 Solution - Move to a Pose">
   <!--//////////-->
-  <BehaviorTree
-    ID="04 Solution - Move to a Pose"
-    _description="Creates a pose relative to the tool, and moves to it"
-    _favorite="true"
-  >
+  <BehaviorTree ID="04 Solution - Move to a Pose" _description="Creates a pose relative to the tool, and moves to it" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;1"
-        reference_frame="grasp_link"
-      />
-      <Action ID="VisualizePose" marker_size="0.200000" />
-      <SubTree
-        ID="Move to a StampedPose"
-        _collapsed="true"
-        target_pose="{stamped_pose}"
-        controller_names="/joint_trajectory_controller"
-      />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;1" reference_frame="grasp_link"/>
+      <Action ID="VisualizePose" marker_size="0.200000"/>
+      <SubTree ID="Move to a StampedPose" _collapsed="true" target_pose="{stamped_pose}" controller_names="/joint_trajectory_controller"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml b/src/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml
@@ -1,26 +1,12 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="05 Solution - Define a path">
   <!--//////////-->
-  <BehaviorTree
-    ID="05 Solution - Define a path"
-    _description="Creates a simple path with two waypoints"
-    _favorite="true"
-  >
+  <BehaviorTree ID="05 Solution - Define a path" _description="Creates a simple path with two waypoints" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;0"
-        reference_frame="grasp_link"
-      />
-      <Action ID="AddPoseStampedToVector" input="{stamped_pose}" />
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;0.2"
-        reference_frame="grasp_link"
-      />
-      <Action ID="AddPoseStampedToVector" input="{stamped_pose}" />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;0" reference_frame="grasp_link"/>
+      <Action ID="AddPoseStampedToVector" input="{stamped_pose}"/>
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;0.2" reference_frame="grasp_link"/>
+      <Action ID="AddPoseStampedToVector" input="{stamped_pose}"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml b/src/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml
@@ -1,27 +1,13 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="06 Solution - Visualize a path">
   <!--//////////-->
-  <BehaviorTree
-    ID="06 Solution - Visualize a path"
-    _description="How to visualize a path"
-    _favorite="true"
-  >
+  <BehaviorTree ID="06 Solution - Visualize a path" _description="How to visualize a path" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;0"
-        reference_frame="grasp_link"
-      />
-      <Action ID="AddPoseStampedToVector" input="{stamped_pose}" />
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;0.2"
-        reference_frame="grasp_link"
-      />
-      <Action ID="AddPoseStampedToVector" input="{stamped_pose}" />
-      <Action ID="VisualizePath" path="{pose_stamped_vector}" />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;0" reference_frame="grasp_link"/>
+      <Action ID="AddPoseStampedToVector" input="{stamped_pose}"/>
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;0.2" reference_frame="grasp_link"/>
+      <Action ID="AddPoseStampedToVector" input="{stamped_pose}"/>
+      <Action ID="VisualizePath" path="{pose_stamped_vector}"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml b/src/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml
@@ -1,24 +1,12 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="07 Solution - Plan motion for a path"
->
+<?xml version='1.0' encoding='UTF-8'?>
+<root BTCPP_format="4" main_tree_to_execute="07 Solution - Plan motion for a path">
   <!--//////////-->
-  <BehaviorTree
-    ID="07 Solution - Plan motion for a path"
-    _description="Given a path, plans the motion for the robot joints"
-    _favorite="true"
-  >
+  <BehaviorTree ID="07 Solution - Plan motion for a path" _description="Given a path, plans the motion for the robot joints" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;0.2"
-        reference_frame="grasp_link"
-      />
-      <Action ID="AddPoseStampedToVector" input="{stamped_pose}" />
-      <Action ID="VisualizePose" />
-      <Action ID="PlanCartesianPath" />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;0.2" reference_frame="grasp_link"/>
+      <Action ID="AddPoseStampedToVector" input="{stamped_pose}"/>
+      <Action ID="VisualizePose"/>
+      <Action ID="PlanCartesianPath"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml b/src/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml
@@ -1,22 +1,13 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="08 Solution - Execute path plan">
   <!--//////////-->
-  <BehaviorTree
-    ID="08 Solution - Execute path plan"
-    _description="Plans joint-space motion to track a path, and executes it"
-    _favorite="true"
-  >
+  <BehaviorTree ID="08 Solution - Execute path plan" _description="Plans joint-space motion to track a path, and executes it" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="0;0;0.2"
-        reference_frame="grasp_link"
-      />
-      <Action ID="AddPoseStampedToVector" input="{stamped_pose}" />
-      <Action ID="VisualizePose" />
-      <Action ID="PlanCartesianPath" />
-      <Action ID="ExecuteFollowJointTrajectory" />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="0;0;0.2" reference_frame="grasp_link"/>
+      <Action ID="AddPoseStampedToVector" input="{stamped_pose}"/>
+      <Action ID="VisualizePose"/>
+      <Action ID="PlanCartesianPath"/>
+      <Action ID="ExecuteFollowJointTrajectory"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml b/src/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml
@@ -1,25 +1,12 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="09 Solution - An infeasible path">
   <!--//////////-->
-  <BehaviorTree
-    ID="09 Solution - An infeasible path"
-    _description="An example of a path that is not feasible"
-    _favorite="true"
-  >
+  <BehaviorTree ID="09 Solution - An infeasible path" _description="An example of a path that is not feasible" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="1;0;-0.5"
-        reference_frame="world"
-      />
-      <Action ID="AddPoseStampedToVector" input="{stamped_pose}" />
-      <Action ID="VisualizePose" />
-      <Action
-        ID="PlanCartesianPath"
-        ik_cartesian_space_density="0.01000"
-        ik_joint_space_density="0.01000"
-      />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="1;0;-0.5" reference_frame="world"/>
+      <Action ID="AddPoseStampedToVector" input="{stamped_pose}"/>
+      <Action ID="VisualizePose"/>
+      <Action ID="PlanCartesianPath" ik_cartesian_space_density="0.01000" ik_joint_space_density="0.01000"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml b/src/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml
@@ -1,33 +1,14 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="10 Solution - Visualize path error"
->
+<?xml version='1.0' encoding='UTF-8'?>
+<root BTCPP_format="4" main_tree_to_execute="10 Solution - Visualize path error">
   <!--//////////-->
-  <BehaviorTree
-    ID="10 Solution - Visualize path error"
-    _description="How to visualize what's going on with an infeasible path"
-    _favorite="true"
-  >
+  <BehaviorTree ID="10 Solution - Visualize path error" _description="How to visualize what's going on with an infeasible path" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedPose"
-        orientation_xyzw="0;0;0;1"
-        position_xyz="1;0;-0.5"
-        reference_frame="world"
-      />
-      <Action ID="AddPoseStampedToVector" input="{stamped_pose}" />
-      <Action ID="VisualizePose" />
+      <Action ID="CreateStampedPose" orientation_xyzw="0;0;0;1" position_xyz="1;0;-0.5" reference_frame="world"/>
+      <Action ID="AddPoseStampedToVector" input="{stamped_pose}"/>
+      <Action ID="VisualizePose"/>
       <Control ID="Fallback">
-        <Action
-          ID="PlanCartesianPath"
-          ik_cartesian_space_density="0.01000"
-          ik_joint_space_density="0.01000"
-        />
-        <Action
-          ID="WaitForUserTrajectoryApproval"
-          solution="{debug_solution}"
-        />
+        <Action ID="PlanCartesianPath" ik_cartesian_space_density="0.01000" ik_joint_space_density="0.01000"/>
+        <Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}"/>
       </Control>
     </Control>
   </BehaviorTree>