precommitted

.pre-commit-config.yaml

@@ -1,14 +1,14 @@
 ---
 repos:
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.3.0
     hooks:
       - id: codespell
         args:
           - --ignore-words-list=null
         exclude: docs/
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.1
+    rev: v0.6.3
     hooks:
       - id: ruff
         args: [ --fix ]

PyFlyt/core/__init__.py

@@ -1,3 +1,4 @@
 """Class implementations for creating custom UAVs in the PyBullet simulation environment."""
+
 from .aviary import Aviary
 from .utils.load_objs import loadOBJ, obj_collision, obj_visual

PyFlyt/core/abstractions/__init__.py

@@ -1,4 +1,5 @@
 """Abstractions for PyFlyt drones."""
+
 from .base_controller import ControlClass
 from .base_drone import DroneClass
 from .base_wind_field import WindFieldClass

PyFlyt/core/abstractions/base_controller.py

@@ -1,4 +1,5 @@
 """Defines a basic controller class to inherit from when building custom controllers."""
+
 from abc import ABC, abstractmethod
 
 import numpy as np

PyFlyt/core/abstractions/base_drone.py

@@ -1,4 +1,5 @@
 """Basic Drone class for all drone models to inherit from."""
+
 from __future__ import annotations
 
 import os

PyFlyt/core/abstractions/base_wind_field.py

@@ -1,4 +1,5 @@
 """Defines a basic wind field class to inherit from when implementing custom wind field models."""
+
 from __future__ import annotations
 
 from abc import ABC, abstractmethod

PyFlyt/core/abstractions/boosters.py

@@ -1,4 +1,5 @@
 """A component to simulate an array of boosters on vehicle."""
+
 from __future__ import annotations
 
 import warnings

PyFlyt/core/abstractions/boring_bodies.py

@@ -1,4 +1,5 @@
 """A component to simulate bodies moving through the air."""
+
 from __future__ import annotations
 
 from typing import Sequence

PyFlyt/core/abstractions/camera.py

@@ -1,4 +1,5 @@
 """A component to simulate a camera on a vehicle."""
+
 from __future__ import annotations
 
 import math

PyFlyt/core/abstractions/gimbals.py

@@ -1,4 +1,5 @@
 """A component to simulate an array of gimbals on vehicle."""
+
 from __future__ import annotations
 
 import warnings

PyFlyt/core/abstractions/lifting_surfaces.py

@@ -1,4 +1,5 @@
 """A component to simulate lifting surfaces vehicle."""
+
 from __future__ import annotations
 
 import warnings

PyFlyt/core/abstractions/motors.py

@@ -1,4 +1,5 @@
 """A component to simulate an array of electric propeller motors on vehicle."""
+
 from __future__ import annotations
 
 import warnings

PyFlyt/core/abstractions/pid.py

@@ -1,4 +1,5 @@
 """A simple class implementing the PID algorithm that works on numpy arrays."""
+
 import numba as nb
 import numpy as np
 

PyFlyt/core/aviary.py

@@ -1,4 +1,5 @@
 """The Aviary class, the core of how PyFlyt handles UAVs in the PyBullet simulation environment."""
+
 from __future__ import annotations
 
 import time

PyFlyt/core/drones/__init__.py

@@ -1,4 +1,5 @@
 """Implementations of default drone models."""
+
 from .fixedwing import Fixedwing
 from .quadx import QuadX
 from .rocket import Rocket

PyFlyt/core/drones/fixedwing.py

@@ -1,4 +1,5 @@
 """Implementation of a Fixedwing UAV."""
+
 from __future__ import annotations
 
 import numpy as np

PyFlyt/core/drones/quadx.py

@@ -1,4 +1,5 @@
 """Implementation of a CrazyFlie 2.x UAV."""
+
 from __future__ import annotations
 
 import math

PyFlyt/core/drones/rocket.py

@@ -1,4 +1,5 @@
 """Implementation of a 1:10 scale SpaceX Rocket UAV."""
+
 from __future__ import annotations
 
 import numpy as np

PyFlyt/core/utils/compile_helpers.py

@@ -1,4 +1,5 @@
 """Common checks."""
+
 import warnings
 from typing import Callable
 

PyFlyt/core/utils/load_objs.py

@@ -1,4 +1,5 @@
 """Convenience function to load an obj into the pybullet environment."""
+
 from __future__ import annotations
 
 import numpy as np

PyFlyt/gym_envs/__init__.py

@@ -1,4 +1,5 @@
 """Registers PyFlyt environments into Gymnasium."""
+
 from gymnasium.envs.registration import register
 
 from PyFlyt.gym_envs.utils.flatten_waypoint_env import FlattenWaypointEnv

PyFlyt/gym_envs/fixedwing_envs/fixedwing_base_env.py

@@ -1,4 +1,5 @@
 """Base PyFlyt Environment for the Fixedwing model using the Gymnasim API."""
+
 from __future__ import annotations
 
 from typing import Any, Literal
@@ -295,7 +296,7 @@ def step(self, action: np.ndarray) -> tuple[Any, float, bool, bool, dict]:
         return self.state, self.reward, self.termination, self.truncation, self.info
 
     def render(self) -> np.ndarray:
-        """render."""
+        """Render."""
         check_numpy()
         if self.render_mode is None:
             raise ValueError(

PyFlyt/gym_envs/fixedwing_envs/fixedwing_waypoints_env.py

@@ -1,4 +1,5 @@
 """Fixedwing Waypoints Environment."""
+
 from __future__ import annotations
 
 from typing import Any, Literal
@@ -171,7 +172,7 @@ def compute_state(self) -> None:
         self.state: dict[Literal["attitude", "target_deltas"], np.ndarray] = new_state
 
     def compute_term_trunc_reward(self) -> None:
-        """Computes the termination, trunction, and reward of the current timestep."""
+        """Computes the termination, truncation, and reward of the current timestep."""
         super().compute_base_term_trunc_reward()
 
         # bonus reward if we are not sparse

PyFlyt/gym_envs/quadx_envs/quadx_base_env.py

@@ -1,4 +1,5 @@
 """Base PyFlyt Environment for the QuadX model using the Gymnasim API."""
+
 from __future__ import annotations
 
 from typing import Any, Literal
@@ -305,7 +306,7 @@ def step(self, action: np.ndarray) -> tuple[Any, float, bool, bool, dict[str, An
         return self.state, self.reward, self.termination, self.truncation, self.info
 
     def render(self) -> np.ndarray:
-        """render."""
+        """Render."""
         check_numpy()
         if self.render_mode is None:
             raise ValueError(

PyFlyt/gym_envs/quadx_envs/quadx_gates_env.py

@@ -1,4 +1,5 @@
 """QuadX Gates Environment."""
+
 from __future__ import annotations
 
 import copy

PyFlyt/gym_envs/quadx_envs/quadx_hover_env.py

@@ -1,4 +1,5 @@
 """QuadX Hover Environment."""
+
 from __future__ import annotations
 
 from typing import Any, Literal

PyFlyt/gym_envs/quadx_envs/quadx_pole_balance_env.py

@@ -1,4 +1,5 @@
 """QuadX Pole Balance Environment."""
+
 from __future__ import annotations
 
 from typing import Any, Literal

PyFlyt/gym_envs/quadx_envs/quadx_pole_waypoints_env.py

@@ -1,4 +1,5 @@
 """QuadX Pole Waypoints Environment."""
+
 from __future__ import annotations
 
 from typing import Any, Literal

PyFlyt/gym_envs/quadx_envs/quadx_waypoints_env.py

@@ -1,4 +1,5 @@
 """QuadX Waypoints Environment."""
+
 from __future__ import annotations
 
 from typing import Any, Literal
@@ -177,7 +178,7 @@ def compute_state(self) -> None:
         self.state: dict[Literal["attitude", "target_deltas"], np.ndarray] = new_state
 
     def compute_term_trunc_reward(self) -> None:
-        """Computes the termination, trunction, and reward of the current timestep."""
+        """Computes the termination, truncation, and reward of the current timestep."""
         super().compute_base_term_trunc_reward()
 
         # bonus reward if we are not sparse

PyFlyt/gym_envs/rocket_envs/rocket_base_env.py

@@ -1,4 +1,5 @@
 """Base PyFlyt Environment for the Rocket model using the Gymnasim API."""
+
 from __future__ import annotations
 
 from typing import Any, Literal
@@ -348,7 +349,7 @@ def step(self, action: np.ndarray):
         return self.state, self.reward, self.termination, self.truncation, self.info
 
     def render(self):
-        """render."""
+        """Render."""
         check_numpy()
         if self.render_mode is None:
             raise ValueError(

PyFlyt/gym_envs/rocket_envs/rocket_landing_env.py

@@ -1,4 +1,5 @@
 """Rocket Landing Environment."""
+
 from __future__ import annotations
 
 import os

PyFlyt/gym_envs/utils/flatten_waypoint_env.py

@@ -1,4 +1,5 @@
 """Wrapper class for flattening the waypoint envs to use homogeneous observation spaces."""
+
 from __future__ import annotations
 
 import numpy as np

PyFlyt/gym_envs/utils/waypoint_handler.py

@@ -1,4 +1,5 @@
 """Handler for Waypoints in the environments."""
+
 from __future__ import annotations
 
 import math

PyFlyt/pz_envs/__init__.py

@@ -1,3 +1,4 @@
 """Imports all PZ envs."""
+
 from .fixedwing_envs.ma_fixedwing_dogfight_env import MAFixedwingDogfightEnv
 from .quadx_envs.ma_quadx_hover_env import MAQuadXHoverEnv

PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_base_env.py

@@ -1,4 +1,5 @@
 """Base Multiagent Fixedwing Environment."""
+
 from __future__ import annotations
 
 from copy import deepcopy
@@ -152,7 +153,7 @@ def action_space(self, agent: Any = None) -> spaces.Box:
         return self._action_space
 
     def close(self) -> None:
-        """close."""
+        """Close."""
         if hasattr(self, "aviary"):
             self.aviary.disconnect()
 

PyFlyt/pz_envs/fixedwing_envs/ma_fixedwing_dogfight_env.py

@@ -1,4 +1,5 @@
 """Multiagent Fixedwing Dogfighting Environment."""
+
 from __future__ import annotations
 
 from typing import Any

PyFlyt/pz_envs/quadx_envs/ma_quadx_base_env.py

@@ -1,4 +1,5 @@
 """Base Multiagent QuadX Environment."""
+
 from __future__ import annotations
 
 from copy import deepcopy
@@ -179,7 +180,7 @@ def action_space(self, agent: Any = None) -> spaces.Box:
         return self._action_space
 
     def close(self) -> None:
-        """close."""
+        """Close."""
         if hasattr(self, "aviary"):
             self.aviary.disconnect()
 

PyFlyt/pz_envs/quadx_envs/ma_quadx_hover_env.py

@@ -1,4 +1,5 @@
 """Multiagent QuadX Hover Environment."""
+
 from __future__ import annotations
 
 from typing import Any

examples/core/01_single_drone.py

@@ -1,4 +1,5 @@
 """Spawn a single drone on x=0, y=0, z=1, with 0 rpy."""
+
 import numpy as np
 
 from PyFlyt.core import Aviary

examples/core/02_multi_drone.py

@@ -1,4 +1,5 @@
 """Spawns three drones, then sets all drones to have different control looprates."""
+
 import numpy as np
 
 from PyFlyt.core import Aviary

examples/core/03_control.py

@@ -1,4 +1,5 @@
 """Spawn a single drone, then command it to go to two setpoints consecutively, and plots the xyz output."""
+
 import matplotlib.pyplot as plt
 import numpy as np
 

examples/core/04_camera.py

@@ -1,4 +1,5 @@
 """Spawn a single drone and get its camera image."""
+
 import matplotlib.pyplot as plt
 import numpy as np
 

examples/core/05_custom_controller.py

@@ -1,4 +1,5 @@
 """Implement a controller that only wants the drone to be at x=1, y=1, z=1, while constantly spinning at yawrate=0.5, building off mode 6."""
+
 import numpy as np
 
 from PyFlyt.core import Aviary

examples/core/06_spawning_objects.py

@@ -1,4 +1,5 @@
 """Spawn a duck object above the drone."""
+
 import numpy as np
 
 from PyFlyt.core import Aviary, loadOBJ, obj_collision, obj_visual

examples/core/07_custom_uav.py

@@ -1,4 +1,5 @@
 """Implements a custom UAV in the Aviary."""
+
 import numpy as np
 from custom_uavs.rocket_brick import RocketBrick
 

examples/core/08_mixed_drones.py

@@ -1,4 +1,5 @@
 """Spawns three different types of drones, then gets all their states."""
+
 import numpy as np
 
 from PyFlyt.core import Aviary

examples/core/09_simple_wind.py

@@ -1,4 +1,5 @@
 """Implements a simple time invariant, stateless wind model."""
+
 import numpy as np
 
 from PyFlyt.core import Aviary

examples/core/10_custom_wind.py

@@ -1,4 +1,5 @@
 """Implements a custom stateful wind model."""
+
 import numpy as np
 
 from PyFlyt.core import Aviary

examples/core/custom_uavs/rocket_brick.py

@@ -1,4 +1,5 @@
 """Implements a custom brick with a booster attached."""
+
 from __future__ import annotations
 
 import os

tests/test_core.py

@@ -1,4 +1,5 @@
 """Tests the the core API functionality."""
+
 from __future__ import annotations
 
 import numpy as np

tests/test_gym_envs.py

@@ -1,4 +1,5 @@
 """Tests the API compatibility of all PyFlyt Gymnasium Envs."""
+
 import itertools
 import warnings
 

tests/test_pz_envs.py

@@ -1,4 +1,5 @@
 """Tests the API compatibility of all PyFlyt Pettingzoo Environments."""
+
 from __future__ import annotations
 
 import warnings