Added pre-commit config

Author: TimSchneider42

.clang-format

@@ -4,4 +4,4 @@ AllowAllArgumentsOnNextLine: true
 BinPackArguments: false
 AllowAllParametersOfDeclarationOnNextLine: true
 AlignAfterOpenBracket: AlwaysBreak
-ColumnLimit: 120
+ColumnLimit: 120

.github/workflows/documentation.yml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-    
+
     - name: dependencies
       env:
         dependency_packages: doxygen

.github/workflows/pre_commit.yml

@@ -0,0 +1,13 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+      - uses: pre-commit/action@v3.0.1

.github/workflows/publish.yml

@@ -39,7 +39,7 @@ jobs:
         run: |
           # find unique versions
           versions=$(
-            cd artifacts && 
+            cd artifacts &&
             ls -1d wheels___*___* 2>/dev/null \
               | sed -E 's/wheels___([^_]+)___.*/\1/' \
               | sort -u
@@ -49,12 +49,12 @@ jobs:
             echo "No wheel archives found, skipping."
             exit 0
           fi
-          
+
           for version in $versions; do
             out="libfranka_${version//\./-}_wheels.zip"
             out_full=$(realpath "output/$out")
             echo "Creating $out from all wheels___${version}___*.zip"
-          
+
             tmp=$(mktemp -d)
             mkdir "$tmp/dist"
             # unpack each matching zip into the temp dir
@@ -65,13 +65,13 @@ jobs:
               mv $tmp2/dist/* "$tmp/dist/"
               rm -rf "$tmp2"
             done
-            
+
             # re-combine into a single zip
             (
               cd "$tmp"
               zip -qr "$out_full" .
             )
-            
+
             # clean up
             rm -rf "$tmp"
             echo "$out done."

.pre-commit-config.yaml

@@ -0,0 +1,21 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+    -   id: check-yaml
+    -   id: end-of-file-fixer
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 25.1.0
+    hooks:
+    -   id: black
+- repo: https://github.com/tcort/markdown-link-check
+  rev: v3.13.6
+  hooks:
+    - id: markdown-link-check
+      args: [-q]
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v20.1.6
+  hooks:
+    - id: clang-format
+      args: ['--style=file']

CMakeLists.txt

@@ -1,7 +1,8 @@
 cmake_minimum_required(VERSION 3.11)
 
 file(READ "VERSION" version)
-project(franky VERSION ${version} LANGUAGES CXX)
+string(STRIP "${version}" version)
+project(franky VERSION "${version}" LANGUAGES CXX)
 set(CMAKE_CXX_STANDARD 17)
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
 

LICENSE

@@ -162,4 +162,4 @@ General Public License ever published by the Free Software Foundation.
 whether future versions of the GNU Lesser General Public License shall
 apply, that proxy's public statement of acceptance of any version is
 permanent authorization for you to choose that version for the
-Library.
+Library.

README.md

@@ -46,25 +46,25 @@ at [https://timschneider42.github.io/franky/](https://timschneider42.github.io/f
 
 ## 🚀 Features
 
-- **Control your Franka robot directly from Python in just a few lines!**  
+- **Control your Franka robot directly from Python in just a few lines!**
   No more endless hours setting up ROS, juggling packages, or untangling dependencies. Just `pip install` — no ROS at all.
 
-- **[Four control modes](#motion-types)**: [Cartesian position](#cartesian-position-control), [Cartesian velocity](#cartesian-velocity-control), [Joint position](#joint-position-control), [Joint velocity](#joint-velocity-control)  
+- **[Four control modes](#motion-types)**: [Cartesian position](#cartesian-position-control), [Cartesian velocity](#cartesian-velocity-control), [Joint position](#joint-position-control), [Joint velocity](#joint-velocity-control)
   Franky uses [Ruckig](https://github.com/pantor/ruckig) to generate smooth, time-optimal trajectories while respecting velocity, acceleration, and jerk limits.
 
 - **[Real-time control from Python and C++](#real-time-motions)**
   Need to change the target while the robot’s moving? No problem. Franky re-plans trajectories on the fly so that you can preempt motions anytime.
 
-- **[Reactive behavior](#-real-time-reactions)**  
+- **[Reactive behavior](#-real-time-reactions)**
   Robots don’t always go according to plan. Franky lets you define reactions to unexpected events—like contact with the environment — so you can change course in real-time.
 
-- **[Motion and reaction callbacks](#motion-callbacks)**  
+- **[Motion and reaction callbacks](#motion-callbacks)**
   Want to monitor what’s happening under the hood? Add callbacks to your motions and reactions. They won’t block the control thread and are super handy for debugging or logging.
 
-- **Things are moving too fast? [Tune the robot's dynamics to your needs](#-robot)**  
+- **Things are moving too fast? [Tune the robot's dynamics to your needs](#-robot)**
   Adjust max velocity, acceleration, and jerk to match your setup or task. Fine control for smooth, safe operation.
 
-- **Full Python access to the libfranka API**  
+- **Full Python access to the libfranka API**
   Want to tweak impedance, read the robot state, set force thresholds, or mess with the Jacobian? Go for it. If libfranka supports it, chances are Franky does, too.
 
 ## 📖 Python Quickstart Guide
@@ -464,9 +464,9 @@ m_jp3 = JointWaypointMotion([
     JointWaypoint([0.1, 0.4, 0.3, -1.4, -0.3, 1.7, 0.9])
 ])
 
-# Stop the robot in joint position control mode. The difference of JointStopMotion to other stop motions such as 
-# CartesianStopMotion is that # JointStopMotion # stops the robot in joint position control mode while 
-# CartesianStopMotion stops it in cartesian pose control mode. The difference becomes relevant when asynchronous move 
+# Stop the robot in joint position control mode. The difference of JointStopMotion to other stop motions such as
+# CartesianStopMotion is that # JointStopMotion # stops the robot in joint position control mode while
+# CartesianStopMotion stops it in cartesian pose control mode. The difference becomes relevant when asynchronous move
 # commands are being sent or reactions are being used(see below).
 m_jp4 = JointStopMotion()
 ```
@@ -546,7 +546,7 @@ m_cv1 = CartesianVelocityMotion(Twist([0.2, -0.1, 0.1], [0.1, -0.1, 0.2]))
 m_cv2 = CartesianVelocityMotion(RobotVelocity(Twist([0.2, -0.1, 0.1], [0.1, -0.1, 0.2]), elbow_velocity=-0.2))
 
 # Cartesian velocity motions also support multiple waypoints. Unlike in cartesian position control, a cartesian velocity
-# waypoint is a target velocity to be reached. This particular example first accelerates the end-effector, holds the 
+# waypoint is a target velocity to be reached. This particular example first accelerates the end-effector, holds the
 # velocity for 1s, then # reverses direction for 2s, reverses direction again for 1s, and finally stops. It is important
 # not to forget to stop # the robot at the end of such a sequence, as it will otherwise throw an error.
 m_cv4 = CartesianVelocityWaypointMotion([
@@ -589,7 +589,7 @@ robot.relative_dynamics_factor = RelativeDynamicsFactor(0.05, 0.1, 0.15)
 
 robot.move(m_jp1)
 
-# We can also set a relative dynamics factor in the move command. It will be multiplied with the other relative 
+# We can also set a relative dynamics factor in the move command. It will be multiplied with the other relative
 # dynamics factors (robot and motion if present).
 robot.move(m_jp2, relative_dynamics_factor=0.8)
 ```
@@ -714,7 +714,7 @@ motion
         }),
       [](const franka::RobotState& state, double rel_time, double abs_time) {
         // Lambda reaction motion generator
-        // (we are just returning a stop motion, but there could be arbitrary 
+        // (we are just returning a stop motion, but there could be arbitrary
         // logic here for generating reaction motions)
         return StopMotion<franka::CartesianPose>();
       })
@@ -852,19 +852,19 @@ import franky
 with franky.RobotWebSession("172.16.0.2", "username", "password") as robot_web_session:
     # First take control, in case some other web session is currently running
     assert robot_web_session.take_control(), "Control not granted"
-    
+
     # Unlock the brakes
     robot_web_session.unlock_brakes()
-    
+
     # Enable the FCI
     robot_web_session.enable_fci()
-    
+
     # Create a franky.Robot instance and do whatever you want
     ...
-    
+
     # Disable the FCI
     robot_web_session.disable_fci()
-    
+
     # Lock brakes
     robot_web_session.lock_brakes()
 ```
@@ -882,13 +882,13 @@ with franky.RobotWebSession("172.16.0.2", "username", "password") as robot_web_s
         robot_web_session.disable_fci()
         robot_web_session.lock_brakes()
         time.sleep(1.0)
-        
+
         robot_web_session.execute_self_test()
-        
+
         robot_web_session.unlock_brakes()
         robot_web_session.enable_fci()
         time.sleep(1.0)
-        
+
         # Recreate your franky.Robot instance as the FCI has been disabled and re-enabled
         ...
 ```
@@ -940,3 +940,12 @@ Aside of bug fixes and general performance improvements, Franky provides the fol
 * Franky supports [joint velocity control](#joint-velocity-control)
   and [cartesian velocity control](#cartesian-velocity-control)
 * The dynamics limits are not hard-coded anymore but can be [set for each robot instance](#-robot).
+
+## Contributing
+
+If you wish to contribute to this project, you are welcome to create a pull request.
+Please run the [pre-commit](https://pre-commit.com/) hooks before submitting your pull request.
+To install the pre-commit hooks, run:
+
+1. [Install pre-commit](https://pre-commit.com/#install)
+2. Install the Git hooks by running `pre-commit install` or, alternatively, run `pre-commit run --all-files manually.

VERSION

@@ -1 +1 @@
-1.0.2
+1.0.2

custom_stubgen.py

@@ -4,37 +4,65 @@
 from typing import Dict, Optional, Iterable
 from collections import defaultdict
 
-from pybind11_stubgen import Writer, QualifiedName, Printer, arg_parser, stub_parser_from_args, to_output_and_subdir, \
-    run
+from pybind11_stubgen import (
+    Writer,
+    QualifiedName,
+    Printer,
+    arg_parser,
+    stub_parser_from_args,
+    to_output_and_subdir,
+    run,
+)
 from pybind11_stubgen.structs import Function, ResolvedType, Module
 
 
 class CustomWriter(Writer):
-    def __init__(self, alternative_types: Dict[str, Iterable[str]], stub_ext: str = "pyi"):
+    def __init__(
+        self, alternative_types: Dict[str, Iterable[str]], stub_ext: str = "pyi"
+    ):
         super().__init__(stub_ext=stub_ext)
         self.alternative_types = {
-            QualifiedName.from_str(k): tuple(QualifiedName.from_str(e) for e in v) for k, v in alternative_types.items()
+            QualifiedName.from_str(k): tuple(QualifiedName.from_str(e) for e in v)
+            for k, v in alternative_types.items()
         }
 
     def _patch_function(self, function: Function):
         for argument in function.args:
-            if argument.annotation is not None and argument.annotation.name in self.alternative_types:
-                converted_types = [ResolvedType(e) for e in self.alternative_types[argument.annotation.name]]
+            if (
+                argument.annotation is not None
+                and argument.annotation.name in self.alternative_types
+            ):
+                converted_types = [
+                    ResolvedType(e)
+                    for e in self.alternative_types[argument.annotation.name]
+                ]
                 argument.annotation = ResolvedType(
-                    QualifiedName.from_str("typing.Union"), [argument.annotation] + converted_types)
+                    QualifiedName.from_str("typing.Union"),
+                    [argument.annotation] + converted_types,
+                )
 
-    def write_module(self, module: Module, printer: Printer, to: Path, sub_dir: Optional[Path] = None):
+    def write_module(
+        self, module: Module, printer: Printer, to: Path, sub_dir: Optional[Path] = None
+    ):
         for cls in module.classes:
             for method in cls.methods:
                 self._patch_function(method.function)
             for prop in cls.properties:
                 if prop.setter is not None:
                     self._patch_function(prop.setter)
             for field in cls.fields:
-                if field.attribute.annotation is not None and field.attribute.annotation.name in self.alternative_types:
-                    converted_types = [ResolvedType(e) for e in self.alternative_types[field.attribute.annotation.name]]
+                if (
+                    field.attribute.annotation is not None
+                    and field.attribute.annotation.name in self.alternative_types
+                ):
+                    converted_types = [
+                        ResolvedType(e)
+                        for e in self.alternative_types[field.attribute.annotation.name]
+                    ]
                     field.attribute.annotation = ResolvedType(
-                        QualifiedName.from_str("typing.Union"), [field.attribute.annotation] + converted_types)
+                        QualifiedName.from_str("typing.Union"),
+                        [field.attribute.annotation] + converted_types,
+                    )
         super().write_module(module, printer, to, sub_dir=sub_dir)
 
 
@@ -46,7 +74,7 @@ def write_module(self, module: Module, printer: Printer, to: Path, sub_dir: Opti
     ("RobotPose", "CartesianState"),
     ("Affine", "CartesianState"),
     ("list[float]", "JointState"),
-    ("np.ndarray", "JointState")
+    ("np.ndarray", "JointState"),
 ]
 
 alternatives = defaultdict(list)