Prepare project#3
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May 21, 2026
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- Add missing license information
- Add CoC
- Add CI
- Add linter
- Add release scripts
- Prepare issues
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Pull request overview
This PR prepares the openarm_control repository for public consumption by adding licensing/community docs and wiring up automation for linting, testing, packaging, and releases.
Changes:
- Add project metadata and tooling configuration (PyPI metadata, Ruff, pre-commit).
- Add GitHub automation (lint/test/package workflows, dependabot, release config).
- Add community and compliance artifacts (LICENSE, Code of Conduct, Contributing, issue templates) plus minor formatting/docstring touch-ups in the Python sources.
Reviewed changes
Copilot reviewed 21 out of 23 changed files in this pull request and generated 8 comments.
Show a summary per file
| File | Description |
|---|---|
src/openarm_control/poses.py |
Minor formatting cleanup in pose conversion helper. |
src/openarm_control/kinematics.py |
Docstring/formatting adjustments; CLI arg formatting. |
src/openarm_control/config.py |
Add numpy import for type hints; minor docstring/formatting tweaks. |
src/openarm_control/__init__.py |
Add module docstring; switch to relative imports. |
README.md |
Improve title and add links/license/CoC sections. |
pyproject.toml |
Add authors/license/urls and Ruff configuration; adjust Python requirement. |
main.py |
Minor formatting change. |
LICENSE.txt |
Add Apache 2.0 license text. |
dev/release.sh |
Add release helper script. |
dev/README.md |
Document release script usage. |
CONTRIBUTING.md |
Add contribution guidance and links to issue templates/community. |
CODE_OF_CONDUCT.md |
Add Contributor Covenant Code of Conduct. |
.pre-commit-config.yaml |
Add pre-commit hooks (Ruff + shfmt). |
.gitignore |
Add license header (no ignore pattern changes shown in diff). |
.github/workflows/test.yaml |
Add test workflow using uv + pytest. |
.github/workflows/package.yaml |
Add source packaging + GitHub Release + PyPI publish workflow. |
.github/workflows/lint.yaml |
Add pre-commit based lint workflow. |
.github/release.yml |
Add changelog author exclude config for releases. |
.github/ISSUE_TEMPLATE/config.yml |
Configure issue templates + contact links. |
.github/ISSUE_TEMPLATE/1-bug-report.yml |
Add bug report issue form. |
.github/ISSUE_TEMPLATE/2-feature-request.yml |
Add feature request issue form. |
.github/dependabot.yml |
Enable Dependabot for GitHub Actions updates. |
.github/copilot-instructions.md |
Add repository Copilot PR description rules. |
.editorconfig |
Add editor config for shell script formatting. |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
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| print(active_qpos) | ||
| print(freeze_dofs) | ||
| self._freeze_task: mink.DofFreezingTask | None = ( | ||
| mink.DofFreezingTask(model=setup.model, dof_indices=freeze_dofs) | ||
| if freeze_dofs else None | ||
| if freeze_dofs |
| ] | ||
|
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| [tool.ruff.lint.per-file-ignores] | ||
| "!src/**.py" = ["D"] |
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| def main(): |
| if [ $# -ne 1 ]; then | ||
| echo "Usage: $0 version" | ||
| echo " e.g.: $0 1.0.0" | ||
| exit 0 |
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| repository_name=$( | ||
| python3 <<PY | ||
| import tomllib | ||
| with open("pyproject.toml", "rb") as f: | ||
| repository = tomllib.load(f)["project"]["urls"]["Repository"] | ||
| print(repository.split("/")[-1].removesuffix(".git")) | ||
| PY |
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| - name: Prepare environment variables | ||
| run: | | ||
| PACKAGE_NAME=$(yq --unwrapScalar .project.name pyproject.toml) | ||
| echo "PACKAGE_NAME=${PACKAGE_NAME}" >> "${GITHUB_ENV}" | ||
| if [ "${GITHUB_REF_TYPE}" = "tag" ]; then | ||
| echo "VERSION=${GITHUB_REF_NAME}" >> "${GITHUB_ENV}" | ||
| else | ||
| VERSION=$(yq --unwrapScalar .project.version pyproject.toml) | ||
| echo "VERSION=${VERSION}" >> "${GITHUB_ENV}" | ||
| fi | ||
| - uses: actions/setup-python@v6 | ||
| with: | ||
| python-version: 3 |
|
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| Instances of abusive, harassing, or otherwise unacceptable behavior may be | ||
| reported to the community leaders responsible for enforcement at | ||
| hi_public@reazon.jp. |
| --discussion-category Announcements \ | ||
| --generate-notes \ | ||
| --repo ${GITHUB_REPOSITORY} \ | ||
| --title "OpenArm Driver ${version}" \ |
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| @@ -159,7 +160,8 @@ def __init__(self, setup: ArmSetup, params: IKParams) -> None: | |||
| print(freeze_dofs) | |||
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| try: | ||
| vel = mink.solve_ik( | ||
| self._config, tasks, self._dt, self._solver_name, | ||
| limits=[], constraints=constraints, | ||
| safety_break=False, **self._solver_params, | ||
| self._config, | ||
| tasks, | ||
| self._dt, | ||
| self._solver_name, | ||
| limits=[], | ||
| constraints=constraints, | ||
| safety_break=False, | ||
| **self._solver_params, | ||
| ) | ||
| except mink.exceptions.NoSolutionFound: | ||
| print("Warning: IK solver failed (constrained and unconstrained). Skipping step.") | ||
| print( | ||
| "Warning: IK solver failed (constrained and unconstrained). Skipping step." | ||
| ) | ||
| return None |
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| - name: Prepare environment variables | ||
| run: | | ||
| PACKAGE_NAME=$(yq --unwrapScalar .project.name pyproject.toml) | ||
| echo "PACKAGE_NAME=${PACKAGE_NAME}" >> "${GITHUB_ENV}" | ||
| if [ "${GITHUB_REF_TYPE}" = "tag" ]; then | ||
| echo "VERSION=${GITHUB_REF_NAME}" >> "${GITHUB_ENV}" | ||
| else | ||
| VERSION=$(yq --unwrapScalar .project.version pyproject.toml) | ||
| echo "VERSION=${VERSION}" >> "${GITHUB_ENV}" | ||
| fi | ||
| - uses: actions/setup-python@v6 | ||
| with: | ||
| python-version: 3 |
| if [ $# -ne 1 ]; then | ||
| echo "Usage: $0 version" | ||
| echo " e.g.: $0 1.0.0" | ||
| exit 0 |
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| repository_name=$( | ||
| python3 <<PY | ||
| import tomllib | ||
| with open("pyproject.toml", "rb") as f: | ||
| repository = tomllib.load(f)["project"]["urls"]["Repository"] | ||
| print(repository.split("/")[-1].removesuffix(".git")) | ||
| PY |
| if [ "${RELEASE_CHECK_ORIGIN:-yes}" = "yes" ]; then | ||
| git_origin_url="$(git remote get-url origin)" | ||
| if [ "${git_origin_url}" != "git@github.com:enactic/${repository_name}.git" ]; then | ||
| echo "This script must be ran with working copy of enactic/${repository_name}." |
* Add missing license information * Add CoC * Add CI * Add linter * Add release scripts * Prepare issues * Remove a needless file
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| print(active_qpos) | ||
| print(freeze_dofs) |
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| print( | ||
| "Warning: IK solver failed (constrained and unconstrained). Skipping step." | ||
| ) |
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| python3 <<PY | ||
| import tomllib | ||
| with open("pyproject.toml", "rb") as f: | ||
| repository = tomllib.load(f)["project"]["urls"]["Repository"] | ||
| print(repository.split("/")[-1].removesuffix(".git")) | ||
| PY |
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| - name: Prepare environment variables | ||
| run: | | ||
| PACKAGE_NAME=$(yq --unwrapScalar .project.name pyproject.toml) | ||
| echo "PACKAGE_NAME=${PACKAGE_NAME}" >> "${GITHUB_ENV}" | ||
| if [ "${GITHUB_REF_TYPE}" = "tag" ]; then | ||
| echo "VERSION=${GITHUB_REF_NAME}" >> "${GITHUB_ENV}" | ||
| else | ||
| VERSION=$(yq --unwrapScalar .project.version pyproject.toml) | ||
| echo "VERSION=${VERSION}" >> "${GITHUB_ENV}" | ||
| fi | ||
| - uses: actions/setup-python@v6 | ||
| with: | ||
| python-version: 3 |
|
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| Instances of abusive, harassing, or otherwise unacceptable behavior may be | ||
| reported to the community leaders responsible for enforcement at | ||
| hi_public@reazon.jp. |
|
|
||
| name: Bug Report | ||
| description: File a bug report. | ||
| type: Bug |
|
|
||
| name: Feature Request | ||
| description: Request a feature. | ||
| type: Feature |
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| [tool.ruff.lint.per-file-ignores] | ||
| "!src/**.py" = ["D"] | ||
|
|
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