Add Pre-Commit Hooks

.github/pull_request_template.md

@@ -0,0 +1,17 @@
+# Description
+
+\[TODO: describe, in-detail, what issue this PR addresses and how it addresses it. Link to relevant Github Issues.\]
+
+# Testing procedure
+
+\[TODO: describe, in-detail, how you tested this. The procedure must be detailed enough for the reviewer(s) to recreate it.\]
+
+# Before opening a pull request
+
+From the top-level of this repository, run:
+
+- \[ \] `pre-commit run --all-files`
+
+# To merge
+
+- \[ \] `Squash & Merge`

.github/workflows/pre-commit.yaml

@@ -0,0 +1,32 @@
+name: pre-commit
+
+on:
+  push:
+    branches:
+      - main
+      - master
+  pull_request:
+  workflow_dispatch:
+
+concurrency:
+  group: "${{ github.workflow }} @ ${{ github.event.pull_request.head.label || github.head_ref || github.ref }}"
+  cancel-in-progress: true
+
+env:
+  PYTHON_VERSION: "3.10"
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+
+      ## Run pre-commit and try to apply fixes
+      - name: Run pre-commit
+        uses: pre-commit/[email protected]
+      - name: Apply fixes from pre-commit
+        uses: pre-commit-ci/[email protected]
+        if: always()

.gitignore

@@ -32,4 +32,4 @@ mkcert*
 
 dist/*
 
-outcomes/*
+outcomes/*

.pre-commit-config.yaml

@@ -0,0 +1,64 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-executables-have-shebangs
+      - id: check-merge-conflict
+      - id: check-shebang-scripts-are-executable
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: requirements-txt-fixer
+      - id: trailing-whitespace
+
+  # isort auto-sorts Python imports
+  - repo: https://github.com/pycqa/isort
+    rev: 5.12.0
+    hooks:
+      - id: isort
+        args: ["--profile", "black"]
+
+  # Black formats Python code
+  - repo: https://github.com/psf/black
+    rev: 23.1.0
+    hooks:
+      - id: black
+
+  # Beautysh formats Bash scripts
+  - repo: https://github.com/lovesegfault/beautysh
+    rev: v6.2.1
+    hooks:
+      - id: beautysh
+
+  # Mdformat formats Markdown files
+  - repo: https://github.com/executablebooks/mdformat
+    rev: 0.7.16
+    hooks:
+      - id: mdformat
+
+  # Codespell checks the code for common misspellings
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.4
+    hooks:
+      - id: codespell
+        exclude: >
+          (?x)^(
+              .*\.svg
+          )$
+
+  # Prettier formats JS(X), TS(X), HTML, CSS, etc. files
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: v4.0.0-alpha.8
+    hooks:
+      - id: prettier
+        types_or: [css, html, javascript, json, jsx, ts, tsx]

LICENSE.md

@@ -1,4 +1,4 @@
-From https://github.com/hello-robot/stretch_web_interface/blob/master/LICENSE.md 
+From https://github.com/hello-robot/stretch_web_interface/blob/master/LICENSE.md
 
 The following license applies to the contents of this directory created by Hello Robot Inc. (the "Contents"), but does not cover materials from other sources. This software is intended for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc.
 

README.md

@@ -1,8 +1,10 @@
 # Overview
+
 This interface enables a user to remotely teleoperate a Stretch robot through a web browser. This website can be set up to teleoperate the robot remotely from anywhere in the world with an internet connection, or simply eyes-off teleop from the next room on a local network. The codebase is built on ROS2, WebRTC, Nav2, and TypeScript.
 
 # Setup
-The interface is compatible with the Stretch RE1, RE2 and SE3. It currently only supports Ubuntu 22.04 and ROS2 Humble. Upgrade your operating system if necessary ([instructions]()) and create a the Stretch ROS2 Humble workspace ([instructions]()). This will install all package dependencies and install the web teleop interface.  
+
+The interface is compatible with the Stretch RE1, RE2 and SE3. It currently only supports Ubuntu 22.04 and ROS2 Humble. Upgrade your operating system if necessary ([instructions](<>)) and create a the Stretch ROS2 Humble workspace ([instructions](<>)). This will install all package dependencies and install the web teleop interface.
 
 ## Installing Beta Teleop Cameras
 
@@ -13,6 +15,7 @@ REx_camera_set_symlink.py --list
 ```
 
 You should see an output similar to:
+
 ```
 For use with S T R E T C H (R) from Hello Robot Inc.
 ---------------------------------------------------------------------
@@ -34,16 +37,18 @@ Note, it is important to make sure the cameras are not plugged in at the same ti
 REx_camera_set_symlink.py --port <PORT> --symlink <SYMLINK_NAME>
 ```
 
-Replace `<PORT>` with the 0th element in the ports list for the `USB CAMERA` ouputted by `REx_camera_set_symlink.py --list` command. In the example above, that would be `/dev/video6`. Replace `<SYMLINK_NAME>` with `hello-navigation-camera` or `hello-gripper-camera` for the navigation and gripper camera respectively. For example, if we were setting up the navigation camera the command would look similar to:
+Replace `<PORT>` with the 0th element in the ports list for the `USB CAMERA` outputted by `REx_camera_set_symlink.py --list` command. In the example above, that would be `/dev/video6`. Replace `<SYMLINK_NAME>` with `hello-navigation-camera` or `hello-gripper-camera` for the navigation and gripper camera respectively. For example, if we were setting up the navigation camera the command would look similar to:
 
 ```
 REx_camera_set_symlink.py --port /dev/video6 --symlink hello-navigation-camera
 ```
 
 Repeat this process for both cameras, then run:
+
 ```
 ll /dev/hello-*
 ```
+
 and verify the symlinks are setup correctly.
 
 # Launching the Interface
@@ -55,25 +60,29 @@ colcon_cd stretch_web_teleop
 ```
 
 Next, launch the interface:
+
 ```
 ./launch_interface
 ```
 
 If you'd like to launch the interface with a map run:
+
 ```
 ./launch_interface -m maps/<NAME_OF_MAP>.yaml
 ```
 
 In the terminal, you will see output similar to:
+
 ```
 Visit the URL(s) below to see the web interface:
 https://localhost/operator
 https://192.168.1.14/operator
 ```
 
-Look for a URL like `https://<ip_address>/operator`. Visit this URL in a web browser on your personal laptop or desktop to see the web interface. Ensure your personal computer is connected to the same network as Stretch. You might see a warning that says "Your connection is not private". If you do, click `Advanced` and `Proceed`. 
+Look for a URL like `https://<ip_address>/operator`. Visit this URL in a web browser on your personal laptop or desktop to see the web interface. Ensure your personal computer is connected to the same network as Stretch. You might see a warning that says "Your connection is not private". If you do, click `Advanced` and `Proceed`.
 
 Once you're done with the interface, close the browser and run:
+
 ```
 ./stop_interface.sh
 ```
@@ -84,23 +93,26 @@ Once you're done with the interface, close the browser and run:
 
 **WARNING: This is prototype code and there are security issues. Deploy this code at your own risk.**
 
-We recommend setting up the interface for remote use using [ngrok](https://ngrok.com/docs/what-is-ngrok/). First, create an account with `ngrok` and follow the Linux installation instructions in the `Setup & Installation` tab in your ngrok account dashboard. 
+We recommend setting up the interface for remote use using [ngrok](https://ngrok.com/docs/what-is-ngrok/). First, create an account with `ngrok` and follow the Linux installation instructions in the `Setup & Installation` tab in your ngrok account dashboard.
 
 Navigate to the `Domains` tab and click `Create Domain`. ngrok will automatically generate a domain name for your free account. You will see a domain similar to `deciding-hornet-purely.ngrok-free.app`. Follow the interface launch instructions and then start the ngrok tunnel by running the following command (replace `<NGROK_DOMAIN>` with your account's domain and `user:password` with a secure username and password):
 
 ```
 ngrok http --basic-auth="user:password" --domain=<NGROK_DOMAIN> 443
 ```
 
-In your browser, open `https://<NGROK_DOMAIN>/operator` to see the interface. You will then be prompted to enter the appropiate username and password. Note, anyone in the world with internet access can open this link. 
+In your browser, open `https://<NGROK_DOMAIN>/operator` to see the interface. You will then be prompted to enter the appropriate username and password. Note, anyone in the world with internet access can open this link.
+
+## Storing Ngrok Tunnel Configuration
 
-## Storing Ngrok Tunnel Configuration 
 To store this configuration, open the ngrok config file:
+
 ```
 ngrok config edit
 ```
 
-Add the following configuration to the file. Make sure to update `<NGROK_AUTH_TOKEN>`, `<NGROK_DOMAIN>`, and `admin:password` with the appropiate values.
+Add the following configuration to the file. Make sure to update `<NGROK_AUTH_TOKEN>`, `<NGROK_DOMAIN>`, and `admin:password` with the appropriate values.
+
 ```
 authtoken: <NGROK_AUTH_TOKEN>
 version: 2
@@ -109,13 +121,13 @@ tunnels:
         proto: http
         domain: <NGROK_DOMAIN>
         addr: 443
-        basic_auth: 
+        basic_auth:
           - "admin:password"
         host_header: rewrite
         inspect: true
 ```
 
-Now run `ngrok start stretch-web-teleop` to start the tunnel and navigate to `https://<NGROK_DOMAIN>/operator`. You will then be prompted to enter the appropiate username and password. 
+Now run `ngrok start stretch-web-teleop` to start the tunnel and navigate to `https://<NGROK_DOMAIN>/operator`. You will then be prompted to enter the appropriate username and password.
 
 # Usage Guide
 
@@ -126,37 +138,48 @@ The web interface currently has a variety of control modes, displays and customi
 There are three panels. The `Camera Views` panel contains the wide angle and gripper camera views. The second panel has three tabs: (1) `Base`, (2) `Wrist & Gripper`, and (3) `Arm & Lift`. Each of these tabs contains a button pad for controlling the respective joints. The `Safety` panel contains the run stop and battery gauge. The header contains a drop down for three action modes, the speed controls (`Slowest`, `Slow`, `Medium`, `Fast`, and `Fastest`) and a button to enable the customization mode.
 
 ## Wide-Angle Camera View
+
 The wide angle camera is attached to the robot's head which can pan and tilt. There are four buttons bordering the camera feed the will pan and tilt the camera.
+
 <p align="center">
     <img src="documentation/assets/tutorial/pan-tilt.gif">
 </p>
 
 ### Quick Look
-There are three built-in quick look options: `Look Ahead`, `Look at Base` and `Look at Gripper`. 
+
+There are three built-in quick look options: `Look Ahead`, `Look at Base` and `Look at Gripper`.
+
 <p align="center">
     <img src="documentation/assets/tutorial/quick-look.gif">
 </p>
 
 ### Follow Gripper
+
 The `follow gripper` button will automatically pan/tilt the head to focus on the gripper as the arm is moved. This is can be useful when trying to pick something up.
+
 <p align="center">
     <img src="documentation/assets/tutorial/follow-gripper.gif">
 </p>
 
 ### Predictive Display
-The 'predictive display' mode will overlay a trajectory over the video stream that Stretch will follow. Stretch's speed and heading will depend on the length and curve of the trajectory. Stretch will move faster the longer the trajectory is and slower the shorter the trajectory is. The trajectory will turn red when you click and the robot is moving. The robot will rotate in place when you click on the base and will move backwards when you click behind the base. In the `press-release` and `click-click` [action modes](#action-modes) you can move the cursor to update the trajectory while the robot is moving. Additionally, you can scale the speed by selecting one of the speed controls. 
+
+The 'predictive display' mode will overlay a trajectory over the video stream that Stretch will follow. Stretch's speed and heading will depend on the length and curve of the trajectory. Stretch will move faster the longer the trajectory is and slower the shorter the trajectory is. The trajectory will turn red when you click and the robot is moving. The robot will rotate in place when you click on the base and will move backwards when you click behind the base. In the `press-release` and `click-click` [action modes](#action-modes) you can move the cursor to update the trajectory while the robot is moving. Additionally, you can scale the speed by selecting one of the speed controls.
+
 <p align="center">
     <img src="documentation/assets/tutorial/predictive-display.gif">
 </p>
 
 ## Gripper Camera
+
 There are two quick actions for the gripper camera view: (1) `center wrist` and (2) `stow wrist`. Center wrist will turn the wrist out and align it with the arm. Stow wrist will rotate the wrist to the stow position.
+
 <p align="center">
     <img src="documentation/assets/tutorial/quick-actions.gif">
 </p>
 
 ## Button Pads
-Each button pad controls a different set of joints on the robot. When you click a button the robot will move and the button will highlight blue while the robot is moving. The button will turn red when the respective joint is at its limit. 
+
+Each button pad controls a different set of joints on the robot. When you click a button the robot will move and the button will highlight blue while the robot is moving. The button will turn red when the respective joint is at its limit.
 
 <table align="center">
   <tr>
@@ -174,31 +197,39 @@ Each button pad controls a different set of joints on the robot. When you click
 </table>
 
 ## Action Modes
+
 The action modes can be selected in the dropdown in the top-left corner of the interface. The action modes provides varying degrees of discrete and continuous control.
 
 - **Step Actions**: When you click, Stretch will move a fixed distance based on the selected speed.
 - **Press-Release**: Stretch will move while you are pressing and holding the button and will stop when you release.
 - **Click-Click**: Stretch will start moving when you click and will stop when you click again. You can also stop Stretch by moving the cursor outside the button you clicked.
 
+# Contributing
+
+- This repository uses pre-commit hooks to enforce consistent formatting and style.
+  - Install pre-commit: `python3 -m pip install pre-commit`
+  - Install the hooks locally: `cd` to the top-level of this repository and run `pre-commit install`.
+  - Moving forward, pre-commit hooks will run before you create any commit.
+
 # Troubleshooting
 
 TODO
 
-
 # Licenses
-The following license applies to the contents of this directory written by Vinitha Ranganeni, Noah Ponto, authors associated with the University of Washington, and authors associated with Hello Robot Inc. (the "Contents"). This software is intended for use with Stretch ® mobile manipulators produced and sold by Hello Robot ®.  
+
+The following license applies to the contents of this directory written by Vinitha Ranganeni, Noah Ponto, authors associated with the University of Washington, and authors associated with Hello Robot Inc. (the "Contents"). This software is intended for use with Stretch ® mobile manipulators produced and sold by Hello Robot ®.
 
 Copyright 2023 Vinitha Ranganeni, Noah Ponto, the University of Washington, and Hello Robot Inc.
 
 The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at
 
-http://www.apache.org/licenses/LICENSE-2.0 
+http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
 
-============================================================
+\============================================================
 
-Some of the contents of this directory derive from the following repositories: 
+Some of the contents of this directory derive from the following repositories:
 
 https://github.com/hello-robot/stretch_web_interface
 

WEBRTC_PROJECT_LICENSE.md

@@ -2,9 +2,9 @@ From https://github.com/hello-robot/stretch_web_interface/blob/master/WEBRTC_PRO
 
 The following license covers the original code from which some of the web interface code was derived (e.g., operator_acquire_av.js, robot_acquire_av.js). The original code was released in the following repository, which contains WebRTC example code.
 
-https://github.com/webrtc/samples 
+https://github.com/webrtc/samples
 
-======================================
+\======================================
 
 Copyright (c) 2014, The WebRTC project authors. All rights reserved.