Added a github action to run the pre-commit hook and display a diff on failure

.github/workflows/pre-commit.yaml

@@ -0,0 +1,49 @@
+name: pre-commit
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [opened, reopened, synchronize]
+
+# Prevent parallel runs
+concurrency:
+  group: "${{ github.workflow }} @ ${{ github.event.pull_request.head.label || github.head_ref || github.ref }}"
+  cancel-in-progress: true
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+
+      - name: "Set up Python"
+        uses: actions/setup-python@v5
+        with:
+          python-version-file: ".python-version"
+
+      - name: Create a virtual environment
+        run: uv venv
+
+      - name: Install the project
+        run: uv pip install ".[dev]"
+
+      # Cache pip for Python hook installs
+      - name: Cache pip
+        uses: actions/cache@v3
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+
+      # Run pre-commit in check-only mode (fail on any diffs)
+      - name: Run pre-commit (check-only)
+        uses: pre-commit/action@v3.0.1
+        with:
+          args: run --all-files --show-diff-on-failure

.pre-commit-config.yaml

@@ -3,25 +3,13 @@ repos:
     rev: v4.6.0
     hooks:
       - id: check-added-large-files
-
-
-  - repo: https://github.com/psf/black
-    rev: 22.3.0
-    hooks:
-      - id: black
-
-  - repo: https://github.com/pycqa/isort
-    rev: 5.11.5
-    hooks:
-      - id: isort
-        args: ["--profile", "black", "--filter-files"]
-
-  - repo: https://github.com/pycqa/flake8
-    rev: 5.0.4
-    hooks:
-      - id: flake8
-        args: ["--config=.flake8"]
-
+      - 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
 
   - repo: https://github.com/pre-commit/mirrors-mypy
     rev: v0.981
@@ -38,22 +26,13 @@ repos:
           - --no-strict-optional
           - --disable-error-code=override
           - --disable-error-code=attr-defined
-
-
-  # 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 
+      - id: codespell 
+        description: Checks for common misspellings in text files.
+        entry: codespell --skip="*ipynb"
+        language: python
+        types: [text]

README.md

@@ -4,7 +4,7 @@
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit&logoColor=white)](https://github.com/pre-commit/pre-commit)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
 
-<img src="./docs/stretch_mujoco.png" title="Stretch In Kitchen" width="100%">
+<img src="./docs/images/stretch_mujoco.png" title="Stretch In Kitchen" width="100%">
 
 This library provides a simulation stack for Stretch, built on [MuJoCo](https://github.com/google-deepmind/mujoco). There is position control for the arm, head, and gripper joints, velocity control for mobile base, calibrated camera RGB + depth imagery, 2D spinning lidar scans, and more. There is a visualizer that supports [user interaction](https://youtu.be/2P-Dt-Jfd6U), or a more efficient headless mode. There is a [ROS2 package](https://github.com/hello-robot/stretch_ros2/tree/humble/stretch_simulation), built on this library, that works with Nav2, Web Teleop, and more. There is 100s of permutations of Robocasa-provided kitchen environments that Stretch can spawn into. The MuJoCo API can be used for features like deformables, procedural model generation, SDF collisions, cloth simulation, and more.
 
@@ -45,8 +45,8 @@ uv run launch_sim.py
 To exit, press `Ctrl+C` in the terminal.
 
 <p>
-    <img src="./docs/camera_streams.png" title="Camera Streams" height="250px">
-    <img src="./docs/stretch3_in_mujoco.png" title="Camera Streams" height="250px">
+    <img src="./docs/images/camera_streams.png" title="Camera Streams" height="250px">
+    <img src="./docs/images/stretch3_in_mujoco.png" title="Camera Streams" height="250px">
 </p>
 
 > On MacOS, if `mjpython` fails to locate `libpython3.10.dylib` and `libz.1.dylib`, run these commands:
@@ -96,8 +96,8 @@ uv run examples/robocasa_environment.py
 
 Ignore any warnings.
 
-<img src="./docs/robocasa_scene_1.png" title="Camera Streams" width="300px">
-<img src="./docs/robocasa_scene_camera_data.png" title="Camera Streams" width="300px">
+<img src="./docs/images/robocasa_scene_1.png" title="Camera Streams" width="300px">
+<img src="./docs/images/robocasa_scene_camera_data.png" title="Camera Streams" width="300px">
 
 ## Writing Code
 
@@ -213,6 +213,16 @@ Check out the following documentation resources:
 
 All the enhancements/missing features/Bugfixes are tracked by [Issues](https://github.com/hello-robot/stretch_mujoco/issues) filed. Please feel free to file an issue if you would like to report bugs or request a feature addition.
 
+## Contributing
+
+This repository uses [pre-commit hooks](https://pre-commit.com/).
+
+Install pre-commit in the dev optional dependencies: `uv pip install ".[dev]`
+
+Install the hooks locally: cd to the top-level of this repository and run `pre-commit install`.
+
+Run pre-commit manually: `pre-commit run --all-files`
+
 ## Acknowledgment
 
-The assets in this repository contain significant contributions and efforts from [Kevin Zakka](https://github.com/kevinzakka) and [Google Deepmind](https://github.com/google-deepmind), along with others in Hello Robot Inc. who helped us in modeling Stretch in Mujoco. Thank you for your contributions.
+The assets in this repository contain significant contributions and efforts from [Kevin Zakka](https://github.com/kevinzakka) and [Google Deepmind](https://github.com/google-deepmind), along with others in Hello Robot Inc. who helped us in modeling Stretch in Mujoco. Thank you for your contributions.

stretch_mujoco/mujoco_server_camera_manager.py

@@ -96,7 +96,7 @@ def _pull_camera_data(self):
     def _create_camera_renderer(self, for_camera: StretchCameras):
         settings = for_camera.initial_camera_settings
 
-        # Update mujoco's offscreen gl buffer size to accomodate bigger resolutions:
+        # Update mujoco's offscreen gl buffer size to accommodate bigger resolutions:
         offscreen_buffer_width = self.mujoco_server.mjmodel.vis.global_.offwidth
         offscreen_buffer_height = self.mujoco_server.mjmodel.vis.global_.offheight
 

stretch_mujoco/mujoco_server_passive.py

@@ -77,7 +77,7 @@ def _run_ui_simulation(self, show_viewer_ui: bool):
             )  # 1/Hz.Put the UI thread to sleep so that the physics thread can do work, to mitigate `viewer.lock()` locking physics thread.
 
             click.secho(
-                f"Using the Mujoco Passive Viewer. Note: UI thread and camera rendering is capped to {1/UI_FPS_CAP_RATE}Hz to increase performance. You can set this rate using the `camera_rate` arugment.",
+                f"Using the Mujoco Passive Viewer. Note: UI thread and camera rendering is capped to {1/UI_FPS_CAP_RATE}Hz to increase performance. You can set this rate using the `camera_rate` argument.",
                 fg="green",
             )