Merge pull request #48 from jjshoots/upgrade_ruff

Upgrade ruff and typehints

Author: jjshoots

PyFlyt/core/abstractions/base_controller.py

@@ -17,7 +17,9 @@ def step(self, state: np.ndarray, setpoint: np.ndarray) -> np.ndarray:
         """Step the controller.
 
         Args:
+        ----
             state (np.ndarray): state
             setpoint (np.ndarray): setpoint
+
         """
         pass

PyFlyt/core/abstractions/base_drone.py

@@ -18,6 +18,7 @@ class DroneClass(ABC):
     Each drone inheriting from this class must have several attributes and methods implemented before they can be considered usable.
 
     Args:
+    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         start_pos (np.ndarray): an `(3,)` array for the starting X, Y, Z position for the drone.
         start_orn (np.ndarray): an `(3,)` array for the starting X, Y, Z orientation for the drone.
@@ -64,6 +65,7 @@ class DroneClass(ABC):
         >>>     self.use_camera = use_camera
         >>>     if self.use_camera:
         >>>         self.camera = Camera(...)
+
     """
 
     def __init__(
@@ -80,6 +82,7 @@ def __init__(
         """Defines the default configuration for UAVs, to be used in conjunction with the Aviary class.
 
         Args:
+        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             start_pos (np.ndarray): an `(3,)` array for the starting X, Y, Z position for the drone.
             start_orn (np.ndarray): an `(3,)` array for the starting X, Y, Z orientation for the drone.
@@ -88,6 +91,7 @@ def __init__(
             drone_model (str): name of the drone itself, must be the same name as the folder where the URDF and YAML files are located.
             model_dir (None | str = None): directory where the drone model folder is located, if none is provided, defaults to the directory of the default drones.
             np_random (None | np.random.RandomState = None): random number generator of the simulation.
+
         """
         if physics_hz % control_hz != 0:
             raise ValueError(
@@ -264,9 +268,11 @@ def register_controller(
         """Default register_controller.
 
         Args:
+        ----
             controller_id (int): ID to bind to this controller
             controller_constructor (type[ControlClass]): A class pointer to the controller implementation, must be subclass of `ControlClass`.
             base_mode (int): Whether this controller uses outputs of an underlying controller as setpoints.
+
         """
         if controller_id <= 0:
             raise ValueError(

PyFlyt/core/abstractions/base_wind_field.py

@@ -47,8 +47,10 @@ def __call__(self, time: float, position: np.ndarray) -> np.ndarray:
         """When given the time float and a position as an (n, 3) array, must return a (n, 3) array representing the local wind velocity.
 
         Args:
+        ----
             time (float): float representing the timestep of the simulation in seconds.
             position (np.ndarray): (n, 3) array representing a series of n positions to sample wind velocites.
+
         """
         pass
 

PyFlyt/core/abstractions/boosters.py

@@ -16,6 +16,7 @@ class Boosters:
     Additionally, some boosters, typically of the solid fuel variety, cannot be extinguished and reignited, a property we call reignitability.
 
     Args:
+    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
         np_random (np.random.RandomState): random number generator of the simulation.
@@ -31,6 +32,7 @@ class Boosters:
         thrust_unit (np.ndarray): an `(n, 3)` array representing the unit vector pointing in the direction of force for each booster, relative to the booster link's body frame.
         reignitable (np.ndarray | list[bool]): a list of booleans representing whether the booster can be extinguished and then reignited.
         noise_ratio (np.ndarray): a list of floats representing the percent amount of fluctuation present in each booster.
+
     """
 
     def __init__(
@@ -54,6 +56,7 @@ def __init__(
         """Used for simulating an array of boosters.
 
         Args:
+        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
             np_random (np.random.RandomState): random number generator of the simulation.
@@ -69,6 +72,7 @@ def __init__(
             thrust_unit (np.ndarray): an `(n, 3)` array representing the unit vector pointing in the direction of force for each booster, relative to the booster link's body frame.
             reignitable (np.ndarray | list[bool]): a list of booleans representing whether the booster can be extinguished and then reignited.
             noise_ratio (np.ndarray): a list of floats representing the percent amount of fluctuation present in each booster.
+
         """
         self.p = p
         self.physics_period = physics_period
@@ -118,7 +122,9 @@ def reset(self, starting_fuel_ratio: float | np.ndarray = 1.0):
         """Reset the boosters.
 
         Args:
+        ----
             starting_fuel_ratio (float | np.ndarray): ratio amount of fuel that the booster is reset to.
+
         """
         # deal with everything in percents
         self.ratio_fuel_remaining = (
@@ -135,8 +141,10 @@ def get_states(self) -> np.ndarray:
         - (b0, b1, ..., bn) represent the remaining fuel ratio
         - (c0, c1, ..., cn) represent the current throttle state
 
-        Returns:
+        Returns
+        -------
             np.ndarray: A (3 * num_boosters, ) array
+
         """
         return np.concatenate(
             [
@@ -156,9 +164,11 @@ def physics_update(
         """Converts booster settings into forces on the booster and inertia change on fuel tank.
 
         Args:
+        ----
             ignition (np.ndarray): (num_boosters,) array of booleans for engine on or off.
             pwm (np.ndarray): (num_boosters,) array of floats between [0, 1] for min or max thrust.
             rotation (np.ndarray): (num_boosters, 3, 3) rotation matrices to rotate each booster's thrust axis around, this is readily obtained from the `gimbals` component.
+
         """
         assert np.all(ignition >= 0.0) and np.all(
             ignition <= 1.0
@@ -214,8 +224,10 @@ def _compute_thrust_mass_inertia(
         """_compute_thrust_mass_inertia.
 
         Args:
+        ----
             ignition (np.ndarray): (num_boosters,) array of booleans for engine on or off.
             pwm (np.ndarray): (num_boosters,) array of floats between [0, 1] for min or max thrust.
+
         """
         # if not reignitable, logical or ignition_state with ignition
         # otherwise, just follow ignition

PyFlyt/core/abstractions/boring_bodies.py

@@ -13,13 +13,15 @@ class BoringBodies:
     The `BoringBodies` component is used to represent a normal body moving through the air.
 
     Args:
+    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
         np_random (np.random.RandomState): random number generator of the simulation.
         uav_id (int): ID of the drone.
         body_ids (np.ndarray | Sequence[int]): (n,) array of IDs for the links representing the bodies.
         drag_coefs (np.ndarray): (n, 3) array of drag coefficients for each body in the link-referenced XYZ directions.
         normal_areas (np.ndarray): (n, 3) array of frontal areas in the link-referenced XYZ directions.
+
     """
 
     def __init__(
@@ -35,13 +37,15 @@ def __init__(
         """Used for simulating a body moving through the air.
 
         Args:
+        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
             np_random (np.random.RandomState): random number generator of the simulation.
             uav_id (int): ID of the drone.
             body_ids (np.ndarray | Sequence[int]): (n,) array of IDs for the links representing the bodies.
             drag_coefs (np.ndarray): (n, 3) array of drag coefficients for each body in the link-referenced XYZ directions.
             normal_areas (np.ndarray): (n, 3) array of frontal areas in the link-referenced XYZ directions.
+
         """
         self.p = p
         self.physics_period = physics_period
@@ -76,7 +80,9 @@ def state_update(self, rotation_matrix: np.ndarray):
         """Updates the local surface velocity of the boring body.
 
         Args:
+        ----
             rotation_matrix (np.ndarray): (3, 3) rotation_matrix of the main body
+
         """
         # get all the states for all the bodies
         link_states = self.p.getLinkStates(

PyFlyt/core/abstractions/camera.py

@@ -19,6 +19,7 @@ class Camera:
     On image capture, the camera returns an RGBA image, a depth map, and a segmentation map with pixel values representing the IDs of objects in the environment.
 
     Args:
+    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         uav_id (int): ID of the drone.
         camera_id (int): integer representing the ID of the link that the camera is attached to.
@@ -29,6 +30,7 @@ class Camera:
         camera_position_offset (np.ndarray = np.array([0.0, 0.0, 0.0])): an (3,) array representing an offset of where the camera is from the center of the link in `camera_id`.
         is_tracking_camera (bool = False): if the camera is a tracking camera, the focus point of the camera is adjusted to focus on the center body of the aircraft instead of at infinity.
         cinematic (bool = False): it's not a bug, it's a feature.
+
     """
 
     def __init__(
@@ -47,6 +49,7 @@ def __init__(
         """Used for implementing camera modules.
 
         Args:
+        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             uav_id (int): ID of the drone.
             camera_id (int): integer representing the ID of the link that the camera is attached to.
@@ -57,6 +60,7 @@ def __init__(
             camera_position_offset (np.ndarray = np.array([0.0, 0.0, 0.0])): an (3,) array representing an offset of where the camera is from the center of the link in `camera_id`.
             is_tracking_camera (bool = False): if the camera is a tracking camera, the focus point of the camera is adjusted to focus on the center body of the aircraft instead of at infinity.
             cinematic (bool = False): it's not a bug, it's a feature.
+
         """
         check_numpy()
         if is_tracking_camera and use_gimbal:
@@ -96,8 +100,10 @@ def __init__(
     def view_mat(self) -> np.ndarray:
         """Generates the view matrix for the camera depending on the current orientation and implicit parameters.
 
-        Returns:
+        Returns
+        -------
             np.ndarray: view matrix.
+
         """
         # get the state of the camera on the robot
         camera_state = self.p.getLinkState(self.uav_id, self.camera_id)
@@ -155,8 +161,10 @@ def physics_update(self):
     def capture_image(self) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
         """Captures the 3 relevant images from the camera.
 
-        Returns:
+        Returns
+        -------
             tuple[np.ndarray, np.ndarray, np.ndarray]: rgbaImg, depthImg, segImg
+
         """
         _, _, rgbaImg, depthImg, segImg = self.p.getCameraImage(
             height=self.camera_resolution[0],

PyFlyt/core/abstractions/gimbals.py

@@ -16,13 +16,15 @@ class Gimbals:
     Each gimbal can rotate about two arbitrary axis that may not be orthogonal to each other.
 
     Args:
+    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
         np_random (np.random.RandomState): random number generator of the simulation.
         gimbal_unit_1 (np.ndarray): first unit vector that the gimbal rotates around.
         gimbal_unit_2 (np.ndarray): second unit vector that the gimbal rotates around.
         gimbal_tau (np.ndarray): gimbal actuation time constant.
         gimbal_range_degrees (np.ndarray): gimbal actuation range in degrees.
+
     """
 
     def __init__(
@@ -38,13 +40,15 @@ def __init__(
         """Used for simulating an array of gimbals.
 
         Args:
+        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
             np_random (np.random.RandomState): random number generator of the simulation.
             gimbal_unit_1 (np.ndarray): first unit vector that the gimbal rotates around.
             gimbal_unit_2 (np.ndarray): second unit vector that the gimbal rotates around.
             gimbal_tau (np.ndarray): gimbal actuation time constant.
             gimbal_range_degrees (np.ndarray): gimbal actuation range in degrees.
+
         """
         self.p = p
         self.physics_period = physics_period
@@ -119,8 +123,10 @@ def reset(self):
     def get_states(self) -> np.ndarray:
         """Gets the current state of the components.
 
-        Returns:
+        Returns
+        -------
             np.ndarray: a (2 * num_gimbals, ) array where every pair of values represents the current state of the gimbal
+
         """
         return np.concatenate(
             [
@@ -142,10 +148,13 @@ def compute_rotation(self, gimbal_command: np.ndarray) -> np.ndarray:
         """Returns a rotation vector after the gimbal rotation.
 
         Args:
+        ----
             gimbal_command (np.ndarray): (num_gimbals, 2) array of floats between [-1, 1].
 
         Returns:
+        -------
             rotation_vector (np.ndarray): (num_gimbals, 3, 3) rotation matrices for all gimbals.
+
         """
         assert np.all(gimbal_command >= -1.0) and np.all(
             gimbal_command <= 1.0
@@ -182,14 +191,17 @@ def _jitted_compute_rotation(
         """Compute the rotation matrix given the gimbal action values.
 
         Args:
+        ----
             gimbal_angles (np.ndarray): gimbal_angles
             w1 (np.ndarray): w1 from self
             w2 (np.ndarray): w2 from self
             w1_squared (np.ndarray): w1_squared from self
             w2_squared (np.ndarray): w2_squared from self
 
         Returns:
+        -------
             tuple[np.ndarray, np.ndarray]:
+
         """
         # precompute some things
         sin_angles = np.sin(gimbal_angles)