Add formatter

.clang-format

@@ -0,0 +1,19 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is 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.
+
+---
+AccessModifierOffset: -4
+BasedOnStyle: Google
+ColumnLimit: 100
+IndentWidth: 4

.cmake-format.py

@@ -0,0 +1,19 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is 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.
+
+with section("format"):
+    command_case = "lower"
+
+with section("markup"):
+    enable_markup = False

.editorconfig

@@ -0,0 +1,27 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is 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.
+
+# https://editorconfig.org/
+
+root = true
+
+[*]
+charset = utf-8
+insert_final_newline = true
+spelling_language = en
+trim_trailing_whitespace = true
+
+[*.sh]
+indent_size = 4
+indent_style = space

.github/workflows/test.yaml

@@ -25,6 +25,25 @@ concurrency:
   group: ${{ github.head_ref || github.sha }}-${{ github.workflow }}
   cancel-in-progress: true
 jobs:
+  lint:
+    name: Lint
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    steps:
+      - uses: actions/checkout@v5
+        with:
+          submodules: recursive
+      - name: Install pre-commit
+        run: |
+          python -m pip install pre-commit
+      - uses: actions/cache@v4
+        with:
+          path: ~/.cache/pre-commit
+          key: pre-commit-${{ hashFiles('.pre-commit-config.yaml') }}
+      - name: Run pre-commit
+        run: |
+          pre-commit run --show-diff-on-failure --color=always --all-files
+
   build:
     name: Build
     runs-on: ${{ matrix.runs-on }}

.pre-commit-config.yaml

@@ -0,0 +1,42 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is 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.
+
+repos:
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v20.1.7
+    hooks:
+      - id: clang-format
+        alias: cpp
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+        alias: cpp
+  - repo: https://github.com/koalaman/shellcheck-precommit
+    rev: v0.10.0
+    hooks:
+      - id: shellcheck
+        alias: shell
+  - repo: https://github.com/scop/pre-commit-shfmt
+    # v3.11.0-1 or later requires pre-commit 3.2.0 or later but Ubuntu
+    # 22.04 ships pre-commit 2.17.0. We can update this rev after
+    # Ubuntu 22.04 reached EOL (June 2027).
+    rev: v3.10.0-1
+    hooks:
+      - id: shfmt
+        alias: shell
+        args:
+          # The default args is "--write --simplify" but we don't use
+          # "--simplify". Because it's conflicted will ShellCheck.
+          - "--write"

.shellcheckrc

@@ -0,0 +1,16 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is 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.
+
+external-sources=true
+source-path=SCRIPTDIR

CMakeLists.txt

@@ -40,28 +40,18 @@ endif()
 # -----------------------------
 # Create static library
 # -----------------------------
-add_library(openarm_teleop_lib STATIC
-    src/controller/dynamics.cpp
-    src/controller/control.cpp
-    src/openarm_port/openarm_init.cpp
-    src/openarm_port/joint_mapper.cpp
-)
+add_library(
+  openarm_teleop_lib STATIC
+  src/controller/dynamics.cpp src/controller/control.cpp
+  src/openarm_port/openarm_init.cpp src/openarm_port/joint_mapper.cpp)
 
-target_include_directories(
-    openarm_teleop_lib
-    PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}/src
-)
+target_include_directories(openarm_teleop_lib
+                           PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src)
 
-target_link_libraries(openarm_teleop_lib
-    PUBLIC
-    OpenArmCAN::openarm_can
-    Eigen3::Eigen
-    ${orocos_kdl_LIBRARIES}
-    ${kdl_parser_LIBRARIES}
-    urdfdom::urdfdom_model
-    yaml-cpp::yaml-cpp
-)
+target_link_libraries(
+  openarm_teleop_lib
+  PUBLIC OpenArmCAN::openarm_can Eigen3::Eigen ${orocos_kdl_LIBRARIES}
+         ${kdl_parser_LIBRARIES} urdfdom::urdfdom_model yaml-cpp::yaml-cpp)
 
 # -----------------------------
 # Executables

control/gravity_compasation.cpp

@@ -14,16 +14,14 @@
 
 #include <atomic>
 #include <chrono>
+#include <controller/dynamics.hpp>
 #include <csignal>
-#include <iostream>
-#include <thread>
-#include <csignal>
-#include <atomic>
 #include <filesystem>
+#include <iostream>
 #include <openarm/can/socket/openarm.hpp>
 #include <openarm/damiao_motor/dm_motor_constants.hpp>
-#include <controller/dynamics.hpp>
 #include <openarm_port/openarm_init.hpp>
+#include <thread>
 
 std::atomic<bool> keep_running(true);
 
@@ -41,10 +39,11 @@ int main(int argc, char** argv) {
         std::string arm_side = "right_arm";
         std::string can_interface = "can0";
 
-
         if (argc < 4) {
-            std::cerr << "Usage: " << argv[0] << " <arm_side> <can_interface> <urdf_path>" << std::endl;
-            std::cerr << "Example: " << argv[0] << " right_arm can0 /tmp/v10_bimanual.urdf" << std::endl;
+            std::cerr << "Usage: " << argv[0] << " <arm_side> <can_interface> <urdf_path>"
+                      << std::endl;
+            std::cerr << "Example: " << argv[0] << " right_arm can0 /tmp/v10_bimanual.urdf"
+                      << std::endl;
             return 1;
         }
 
@@ -53,7 +52,8 @@ int main(int argc, char** argv) {
         std::string urdf_path = argv[3];
 
         if (arm_side != "left_arm" && arm_side != "right_arm") {
-            std::cerr << "[ERROR] Invalid arm_side: " << arm_side << ". Must be 'left_arm' or 'right_arm'." << std::endl;
+            std::cerr << "[ERROR] Invalid arm_side: " << arm_side
+                      << ". Must be 'left_arm' or 'right_arm'." << std::endl;
             return 1;
         }
 
@@ -68,13 +68,14 @@ int main(int argc, char** argv) {
         std::cout << "URDF path      : " << urdf_path << std::endl;
 
         std::string root_link = "openarm_body_link0";
-        std::string leaf_link = (arm_side == "left_arm") ? "openarm_left_hand" : "openarm_right_hand";
+        std::string leaf_link =
+            (arm_side == "left_arm") ? "openarm_left_hand" : "openarm_right_hand";
 
         Dynamics arm_dynamics(urdf_path, root_link, leaf_link);
         arm_dynamics.Init();
 
         std::cout << "=== Initializing Leader OpenArm ===" << std::endl;
-        openarm::can::socket::OpenArm *openarm =
+        openarm::can::socket::OpenArm* openarm =
             openarm_init::OpenArmInitializer::initialize_openarm(can_interface, true);
 
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -85,20 +86,25 @@ int main(int argc, char** argv) {
         std::vector<double> arm_joint_positions(openarm->get_arm().get_motors().size(), 0.0);
         std::vector<double> arm_joint_velocities(openarm->get_arm().get_motors().size(), 0.0);
 
-        std::vector<double> gripper_joint_positions(openarm->get_gripper().get_motors().size(), 0.0);
-        std::vector<double> gripper_joint_velocities(openarm->get_gripper().get_motors().size(), 0.0);
+        std::vector<double> gripper_joint_positions(openarm->get_gripper().get_motors().size(),
+                                                    0.0);
+        std::vector<double> gripper_joint_velocities(openarm->get_gripper().get_motors().size(),
+                                                     0.0);
 
         std::vector<double> grav_torques(openarm->get_arm().get_motors().size(), 0.0);
 
-        while(keep_running){
-
+        while (keep_running) {
             frame_count++;
             auto current_time = std::chrono::high_resolution_clock::now();
 
             // Calculate and display Hz every second
-            auto time_since_last_display = std::chrono::duration_cast<std::chrono::milliseconds>(current_time - last_hz_display).count();
-            if (time_since_last_display >= 1000) { // Every 1000ms (1 second)
-                auto total_time = std::chrono::duration_cast<std::chrono::milliseconds>(current_time - start_time).count();
+            auto time_since_last_display = std::chrono::duration_cast<std::chrono::milliseconds>(
+                                               current_time - last_hz_display)
+                                               .count();
+            if (time_since_last_display >= 1000) {  // Every 1000ms (1 second)
+                auto total_time =
+                    std::chrono::duration_cast<std::chrono::milliseconds>(current_time - start_time)
+                        .count();
                 double hz = (frame_count * 1000.0) / total_time;
                 std::cout << "=== Loop Frequency: " << hz << " Hz ===" << std::endl;
                 last_hz_display = current_time;
@@ -112,20 +118,19 @@ int main(int argc, char** argv) {
 
             arm_dynamics.GetGravity(arm_joint_positions.data(), grav_torques.data());
 
-            for(size_t i = 0; i < openarm->get_arm().get_motors().size(); ++i){
+            for (size_t i = 0; i < openarm->get_arm().get_motors().size(); ++i) {
                 // std::cout << "grav_torques[" << i << "] = " << grav_torques[i] << std::endl;
             }
 
             std::vector<openarm::damiao_motor::MITParam> cmds;
             cmds.reserve(grav_torques.size());
 
             std::transform(grav_torques.begin(), grav_torques.end(), std::back_inserter(cmds),
-                [](double t) { return openarm::damiao_motor::MITParam{0, 0, 0, 0, t}; });
+                           [](double t) { return openarm::damiao_motor::MITParam{0, 0, 0, 0, t}; });
 
             openarm->get_arm().mit_control_all(cmds);
 
             openarm->recv_all();
-
         }
 
         std::this_thread::sleep_for(std::chrono::milliseconds(100));