Merge pull request #5 from PickNikRobotics/pre-commit-formatting

Pre commit formatting
PickNikRobotics · Nov 12, 2024 · 4a7aa99 · 4a7aa99
2 parents 454dcac + 217a42e
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -11,6 +11,7 @@
 #     pre-commit autoupdate
 #
 # See https://github.com/pre-commit/pre-commit
+exclude: ^src/external_dependencies/
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks

diff --git a/README.md b/README.md
@@ -16,7 +16,7 @@ git submodule update --recursive --init
 ## Working with Git Subtrees
 
 This repository was created through the combination of multiple repositories using git subtree.
-If you have no intrest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.
+If you have no interest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.
 
 ### Repository Structure
 

diff --git a/src/example_behaviors/src/ndt_registration.cpp b/src/example_behaviors/src/ndt_registration.cpp
@@ -75,7 +75,7 @@ BT::PortsList NDTRegistration::providedPorts()
 }
 BT::KeyValueVector NDTRegistration::metadata()
 {
-  return { {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
+return { {"subcategory", "Perception - 3D Point Cloud"}, {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
 }
 
 

diff --git a/src/example_behaviors/src/ransac_registration.cpp b/src/example_behaviors/src/ransac_registration.cpp
@@ -82,7 +82,7 @@ BT::PortsList RANSACRegistration::providedPorts()
 
 BT::KeyValueVector RANSACRegistration::metadata()
 {
-  return { {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
+  return { {"subcategory", "Perception - 3D Point Cloud"}, {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
 }
 
 

diff --git a/src/fanuc_sim/objectives/move_to_waypoint.xml b/src/fanuc_sim/objectives/move_to_waypoint.xml
@@ -1,20 +1,52 @@
 <root BTCPP_format="4" main_tree_to_execute="Move to Waypoint">
-    <BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration" _subtreeOnly="true">
-        <Control ID="Sequence" name="root">
-            <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
-            <Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/>
-            <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
-            <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" planner_interface="{planner_interface}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
-            <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
-            <Action ID="BlockingExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
-        </Control>
-    </BehaviorTree>
-    <TreeNodesModel>
-        <SubTree ID="Move to Waypoint">
-            <input_port name="waypoint_name" default="Point A"/>
-            <input_port name="joint_group_name" default="manipulator"/>
-            <input_port name="planner_interface" default="moveit_default"/>
-            <input_port name="controller_names" default="/joint_trajectory_controller"/>
-        </SubTree>
-    </TreeNodesModel>
-</root>
+  <BehaviorTree
+    ID="Move to Waypoint"
+    _description="This Objective is used when moving to one of the saved waypoints in your site configuration"
+    _subtreeOnly="true"
+  >
+    <Control ID="Sequence" name="root">
+      <Action
+        ID="RetrieveWaypoint"
+        waypoint_joint_state="{target_joint_state}"
+        waypoint_name="{waypoint_name}"
+        joint_group_name="{joint_group_name}"
+      />
+      <Action
+        ID="InitializeMTCTask"
+        task_id="move_to_named_pose"
+        controller_names="{controller_names}"
+        task="{move_to_waypoint_task}"
+      />
+      <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}" />
+      <Action
+        ID="SetupMTCMoveToJointState"
+        joint_state="{target_joint_state}"
+        name="SetupMTCMoveToJointState"
+        planning_group_name="{joint_group_name}"
+        planner_interface="{planner_interface}"
+        constraints="{constraints}"
+        task="{move_to_waypoint_task}"
+      />
+      <Action
+        ID="PlanMTCTask"
+        solution="{move_to_waypoint_solution}"
+        task="{move_to_waypoint_task}"
+      />
+      <Action
+        ID="BlockingExecuteMTCTask"
+        solution="{move_to_waypoint_solution}"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Move to Waypoint">
+      <input_port name="waypoint_name" default="Point A" />
+      <input_port name="joint_group_name" default="manipulator" />
+      <input_port name="planner_interface" default="moveit_default" />
+      <input_port
+        name="controller_names"
+        default="/joint_trajectory_controller"
+      />
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/fanuc_sim/objectives/teleoperate.xml b/src/fanuc_sim/objectives/teleoperate.xml
@@ -1,6 +1,16 @@
 <root BTCPP_format="4" main_tree_to_execute="Teleoperate">
-    <!--//////////-->
-    <BehaviorTree ID="Teleoperate" _description="Handles the different variations of teleoperation from the web UI. Can be used standalone." _favorite="false" _hardcoded="false">
-        <SubTree ID="Request Teleoperation" enable_user_interaction="false" user_interaction_prompt="" initial_teleop_mode="3"/>
-    </BehaviorTree>
-</root>
+  <!--//////////-->
+  <BehaviorTree
+    ID="Teleoperate"
+    _description="Handles the different variations of teleoperation from the web UI. Can be used standalone."
+    _favorite="false"
+    _hardcoded="false"
+  >
+    <SubTree
+      ID="Request Teleoperation"
+      enable_user_interaction="false"
+      user_interaction_prompt=""
+      initial_teleop_mode="3"
+    />
+  </BehaviorTree>
+</root>
diff --git a/src/fanuc_sim/waypoints/waypoints.yaml b/src/fanuc_sim/waypoints/waypoints.yaml
@@ -1 +1 @@
-[]
+[]
diff --git a/src/lab_sim/objectives/3_waypoint_pick_and_place.xml b/src/lab_sim/objectives/3_waypoint_pick_and_place.xml
@@ -1 +1,122 @@
-<root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place"><!--//////////--><BehaviorTree ID="3 Waypoints Pick and Place" _description="Basic example of repeatedly grabbing a small (invisible) object, placing it at desired destination, and then moving back to a home position" _favorite="false"><Control ID="Sequence"><!--Reset the planning scene to ensure no old collision objects are hanging around--><Action ID="ClearSnapshot"/><!--Setup the environment to its "home" configuration - move to center and open gripper--><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/><!--Run pick and place on loop--><Decorator ID="KeepRunningUntilFailure"><Control ID="Sequence"><!--Pick object from original location, put it down at a different part of the table, and go back to center pose--><Control ID="Sequence"><SubTree ID="Move to Waypoint" waypoint_name="Pick Cube" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><SubTree ID="Move to Waypoint" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}" waypoint_name="Place Cube"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/></Control><!--Pick object from where it was placed, put it down on the original location, and go back to center pose--><Control ID="Sequence"><SubTree ID="Move to Waypoint" waypoint_name="Place Cube" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><SubTree ID="Move to Waypoint" waypoint_name="Pick Cube" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/></Control></Control></Decorator></Control></BehaviorTree></root>
+<root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
+  <!--//////////-->
+  <BehaviorTree
+    ID="3 Waypoints Pick and Place"
+    _description="Basic example of repeatedly grabbing a small (invisible) object, placing it at desired destination, and then moving back to a home position"
+    _favorite="false"
+  >
+    <Control ID="Sequence">
+      <!--Reset the planning scene to ensure no old collision objects are hanging around-->
+      <Action ID="ClearSnapshot" />
+      <!--Setup the environment to its "home" configuration - move to center and open gripper-->
+      <SubTree
+        ID="Move to Waypoint"
+        waypoint_name="Look at Table"
+        joint_group_name="manipulator"
+        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+        planner_interface="moveit_default"
+        constraints="{constraints}"
+      />
+      <Action
+        ID="MoveGripperAction"
+        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
+        position="0"
+      />
+      <!--Run pick and place on loop-->
+      <Decorator ID="KeepRunningUntilFailure">
+        <Control ID="Sequence">
+          <!--Pick object from original location, put it down at a different part of the table, and go back to center pose-->
+          <Control ID="Sequence">
+            <SubTree
+              ID="Move to Waypoint"
+              waypoint_name="Pick Cube"
+              joint_group_name="manipulator"
+              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+              planner_interface="moveit_default"
+              constraints="{constraints}"
+            />
+            <Action
+              ID="MoveGripperAction"
+              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
+              position="0.7929"
+            />
+            <SubTree
+              ID="Move to Waypoint"
+              waypoint_name="Look at Table"
+              joint_group_name="manipulator"
+              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+              planner_interface="moveit_default"
+              constraints="{constraints}"
+            />
+            <SubTree
+              ID="Move to Waypoint"
+              joint_group_name="manipulator"
+              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+              planner_interface="moveit_default"
+              constraints="{constraints}"
+              waypoint_name="Place Cube"
+            />
+            <Action
+              ID="MoveGripperAction"
+              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
+              position="0"
+            />
+            <SubTree
+              ID="Move to Waypoint"
+              waypoint_name="Look at Table"
+              joint_group_name="manipulator"
+              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+              planner_interface="moveit_default"
+              constraints="{constraints}"
+            />
+          </Control>
+          <!--Pick object from where it was placed, put it down on the original location, and go back to center pose-->
+          <Control ID="Sequence">
+            <SubTree
+              ID="Move to Waypoint"
+              waypoint_name="Place Cube"
+              joint_group_name="manipulator"
+              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+              planner_interface="moveit_default"
+              constraints="{constraints}"
+            />
+            <Action
+              ID="MoveGripperAction"
+              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
+              position="0.7929"
+            />
+            <SubTree
+              ID="Move to Waypoint"
+              waypoint_name="Look at Table"
+              joint_group_name="manipulator"
+              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+              planner_interface="moveit_default"
+              constraints="{constraints}"
+            />
+            <SubTree
+              ID="Move to Waypoint"
+              waypoint_name="Pick Cube"
+              joint_group_name="manipulator"
+              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+              planner_interface="moveit_default"
+              constraints="{constraints}"
+            />
+            <Action
+              ID="MoveGripperAction"
+              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
+              position="0"
+            />
+            <SubTree
+              ID="Move to Waypoint"
+              waypoint_name="Look at Table"
+              joint_group_name="manipulator"
+              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+              planner_interface="moveit_default"
+              constraints="{constraints}"
+            />
+          </Control>
+        </Control>
+      </Decorator>
+    </Control>
+  </BehaviorTree>
+</root>
diff --git a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
@@ -1,22 +1,38 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Add Waypoints to MTC Task">
   <!--//////////-->
   <BehaviorTree ID="Add Waypoints to MTC Task">
     <Control ID="Sequence">
-      <Decorator ID="ForEachString" vector_in="{waypoint_names}" out="{waypoint_name}">
+      <Decorator
+        ID="ForEachString"
+        vector_in="{waypoint_names}"
+        out="{waypoint_name}"
+      >
         <Control ID="Sequence">
-          <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
-          <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" planner_interface="{planner_interface}" task="{mtc_task}"/>
+          <Action
+            ID="RetrieveWaypoint"
+            waypoint_joint_state="{target_joint_state}"
+            waypoint_name="{waypoint_name}"
+            joint_group_name="{joint_group_name}"
+          />
+          <Action
+            ID="SetupMTCMoveToJointState"
+            joint_state="{target_joint_state}"
+            name="SetupMTCMoveToJointState"
+            planning_group_name="{joint_group_name}"
+            planner_interface="{planner_interface}"
+            task="{mtc_task}"
+          />
         </Control>
       </Decorator>
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
     <SubTree ID="Add Waypoints to MTC Task">
-      <input_port name="joint_group_name" default="manipulator"/>
-      <input_port name="waypoint_names" default="Pick Cube;Place Cube"/>
-      <inout_port name="mtc_task" default="{mtc_task}"/>
-      <input_port name="planner_interface" default="moveit_default"/>
+      <input_port name="joint_group_name" default="manipulator" />
+      <input_port name="waypoint_names" default="Pick Cube;Place Cube" />
+      <inout_port name="mtc_task" default="{mtc_task}" />
+      <input_port name="planner_interface" default="moveit_default" />
     </SubTree>
   </TreeNodesModel>
 </root>
-Original file line number
+Diff line change
@@ Expand Up / @@ -75,7 +75,7 @@ BT::PortsList NDTRegistration::providedPorts() @@
     }
     BT::KeyValueVector NDTRegistration::metadata()
     {
-      return { {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
+    return { {"subcategory", "Perception - 3D Point Cloud"}, {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
     }
@@ Expand Down @@