Style

[JacopoPan]

ruff check .

F401 [*] `os` imported but unused
 --> gym_pybullet_drones/control/CTBRControl.py:1:8
  |
1 | import os
  |        ^^
2 | import numpy as np
3 | import xml.etree.ElementTree as etxml
  |
help: Remove unused import: `os`

F401 [*] `socket` imported but unused
 --> gym_pybullet_drones/control/CTBRControl.py:5:8
  |
3 | import xml.etree.ElementTree as etxml
4 | import pkg_resources
5 | import socket 
  |        ^^^^^^
6 | import struct
  |
help: Remove unused import: `socket`

F401 [*] `struct` imported but unused
 --> gym_pybullet_drones/control/CTBRControl.py:6:8
  |
4 | import pkg_resources
5 | import socket 
6 | import struct
  |        ^^^^^^
7 |
8 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
  |
help: Remove unused import: `struct`

E741 Ambiguous variable name: `l`
  --> gym_pybullet_drones/control/MRAC.py:65:9
   |
63 |         Iyy = self.Iyy
64 |         Izz = self.Izz
65 |         l = self.l
   |         ^
66 |         Ka = self.Ka
67 |         Km = self.Km
   |

F841 Local variable `l` is assigned to but never used
  --> gym_pybullet_drones/control/MRAC.py:65:9
   |
63 |         Iyy = self.Iyy
64 |         Izz = self.Izz
65 |         l = self.l
   |         ^
66 |         Ka = self.Ka
67 |         Km = self.Km
   |
help: Remove assignment to unused variable `l`

F841 Local variable `Ka` is assigned to but never used
  --> gym_pybullet_drones/control/MRAC.py:66:9
   |
64 |         Izz = self.Izz
65 |         l = self.l
66 |         Ka = self.Ka
   |         ^^
67 |         Km = self.Km
   |
help: Remove assignment to unused variable `Ka`

F841 Local variable `Km` is assigned to but never used
  --> gym_pybullet_drones/control/MRAC.py:67:9
   |
65 |         l = self.l
66 |         Ka = self.Ka
67 |         Km = self.Km
   |         ^^
68 |
69 |         a_sub = np.array([[0, 0, 0, g*np.sin(psi), g*np.cos(psi), 0],
   |
help: Remove assignment to unused variable `Km`

F401 [*] `sys.platform` imported but unused
 --> gym_pybullet_drones/envs/BaseAviary.py:2:17
  |
1 | import os
2 | from sys import platform
  |                 ^^^^^^^^
3 | import time
4 | import collections
  |
help: Remove unused import: `sys.platform`

F401 [*] `collections` imported but unused
 --> gym_pybullet_drones/envs/BaseAviary.py:4:8
  |
2 | from sys import platform
3 | import time
4 | import collections
  |        ^^^^^^^^^^^
5 | from datetime import datetime
6 | import xml.etree.ElementTree as etxml
  |
help: Remove unused import: `collections`

E712 Avoid equality comparisons to `False`; use `not self.USE_GUI_RPM:` for false checks
   --> gym_pybullet_drones/envs/BaseAviary.py:323:44
    |
321 |             if current_input_switch > self.last_input_switch:
322 |                 self.last_input_switch = current_input_switch
323 |                 self.USE_GUI_RPM = True if self.USE_GUI_RPM == False else False
    |                                            ^^^^^^^^^^^^^^^^^^^^^^^^^
324 |         if self.USE_GUI_RPM:
325 |             for i in range(4):
    |
help: Replace with `not self.USE_GUI_RPM`

F841 Local variable `p` is assigned to but never used
   --> gym_pybullet_drones/envs/BetaAviary.py:120:13
    |
118 |             #### State message to Betaflight ###########################
119 |             o = obs[j,:] # p, q, euler, v, w, rpm (all in world frame)
120 |             p = o[:3]
    |             ^
121 |             q = np.array([o[6], o[3], o[4], o[5]]) # w, x, y, z
122 |             v = o[10:13]
    |
help: Remove assignment to unused variable `p`

F841 Local variable `v` is assigned to but never used
   --> gym_pybullet_drones/envs/BetaAviary.py:122:13
    |
120 |             p = o[:3]
121 |             q = np.array([o[6], o[3], o[4], o[5]]) # w, x, y, z
122 |             v = o[10:13]
    |             ^
123 |             w = o[13:16] # world frame
124 |             w_body = rotate_vector(w, qconjugate(q)) # local frame
    |
help: Remove assignment to unused variable `v`

F841 [*] Local variable `msg` is assigned to but never used
   --> gym_pybullet_drones/envs/BetaAviary.py:164:36
    |
162 |             try:
163 |                 data, addr = self.sock_pwm[j].recvfrom(16) # buffer size is 100 bytes (servo_packet size 16)
164 |             except socket.error as msg:
    |                                    ^^^
165 |                 _action = self.beta_action[j,:]
166 |                 pass
    |
help: Remove assignment to unused variable `msg`

F401 [*] `socket` imported but unused
 --> gym_pybullet_drones/envs/CFAviary.py:3:8
  |
1 | import numpy as np
2 | from gymnasium import spaces
3 | import socket
  |        ^^^^^^
4 | import math 
  |
help: Remove unused import: `socket`

F401 `gym_pybullet_drones.envs.BetaAviary.BetaAviary` imported but unused; consider removing, adding to `__all__`, or using a redundant alias
 --> gym_pybullet_drones/envs/__init__.py:1:49
  |
1 | from gym_pybullet_drones.envs.BetaAviary import BetaAviary
  |                                                 ^^^^^^^^^^
2 | from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
3 | from gym_pybullet_drones.envs.HoverAviary import HoverAviary
  |
help: Use an explicit re-export: `BetaAviary as BetaAviary`

F401 `gym_pybullet_drones.envs.CtrlAviary.CtrlAviary` imported but unused; consider removing, adding to `__all__`, or using a redundant alias
 --> gym_pybullet_drones/envs/__init__.py:2:49
  |
1 | from gym_pybullet_drones.envs.BetaAviary import BetaAviary
2 | from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
  |                                                 ^^^^^^^^^^
3 | from gym_pybullet_drones.envs.HoverAviary import HoverAviary
4 | from gym_pybullet_drones.envs.MultiHoverAviary import MultiHoverAviary
  |
help: Use an explicit re-export: `CtrlAviary as CtrlAviary`

F401 `gym_pybullet_drones.envs.HoverAviary.HoverAviary` imported but unused; consider removing, adding to `__all__`, or using a redundant alias
 --> gym_pybullet_drones/envs/__init__.py:3:50
  |
1 | from gym_pybullet_drones.envs.BetaAviary import BetaAviary
2 | from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
3 | from gym_pybullet_drones.envs.HoverAviary import HoverAviary
  |                                                  ^^^^^^^^^^^
4 | from gym_pybullet_drones.envs.MultiHoverAviary import MultiHoverAviary
5 | from gym_pybullet_drones.envs.VelocityAviary import VelocityAviary
  |
help: Use an explicit re-export: `HoverAviary as HoverAviary`

F401 `gym_pybullet_drones.envs.MultiHoverAviary.MultiHoverAviary` imported but unused; consider removing, adding to `__all__`, or using a redundant alias
 --> gym_pybullet_drones/envs/__init__.py:4:55
  |
2 | from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
3 | from gym_pybullet_drones.envs.HoverAviary import HoverAviary
4 | from gym_pybullet_drones.envs.MultiHoverAviary import MultiHoverAviary
  |                                                       ^^^^^^^^^^^^^^^^
5 | from gym_pybullet_drones.envs.VelocityAviary import VelocityAviary
  |
help: Use an explicit re-export: `MultiHoverAviary as MultiHoverAviary`

F401 `gym_pybullet_drones.envs.VelocityAviary.VelocityAviary` imported but unused; consider removing, adding to `__all__`, or using a redundant alias
 --> gym_pybullet_drones/envs/__init__.py:5:53
  |
3 | from gym_pybullet_drones.envs.HoverAviary import HoverAviary
4 | from gym_pybullet_drones.envs.MultiHoverAviary import MultiHoverAviary
5 | from gym_pybullet_drones.envs.VelocityAviary import VelocityAviary
  |                                                     ^^^^^^^^^^^^^^
  |
help: Use an explicit re-export: `VelocityAviary as VelocityAviary`

F401 [*] `transforms3d.quaternions.rotate_vector` imported but unused
  --> gym_pybullet_drones/examples/beta.py:33:38
   |
31 | import csv
32 |
33 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |                                      ^^^^^^^^^^^^^
34 | from transforms3d.utils import normalized_vector
   |
help: Remove unused import

F401 [*] `transforms3d.quaternions.qconjugate` imported but unused
  --> gym_pybullet_drones/examples/beta.py:33:53
   |
31 | import csv
32 |
33 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |                                                     ^^^^^^^^^^
34 | from transforms3d.utils import normalized_vector
   |
help: Remove unused import

F401 [*] `transforms3d.quaternions.mat2quat` imported but unused
  --> gym_pybullet_drones/examples/beta.py:33:65
   |
31 | import csv
32 |
33 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |                                                                 ^^^^^^^^
34 | from transforms3d.utils import normalized_vector
   |
help: Remove unused import

F401 [*] `transforms3d.quaternions.qmult` imported but unused
  --> gym_pybullet_drones/examples/beta.py:33:75
   |
31 | import csv
32 |
33 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |                                                                           ^^^^^
34 | from transforms3d.utils import normalized_vector
   |
help: Remove unused import

F401 [*] `transforms3d.utils.normalized_vector` imported but unused
  --> gym_pybullet_drones/examples/beta.py:34:32
   |
33 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
34 | from transforms3d.utils import normalized_vector
   |                                ^^^^^^^^^^^^^^^^^
35 |
36 | from gym_pybullet_drones.utils.enums import DroneModel, Physics
   |
help: Remove unused import: `transforms3d.utils.normalized_vector`

F841 Local variable `PYB_CLIENT` is assigned to but never used
  --> gym_pybullet_drones/examples/beta.py:82:5
   |
81 |     #### Obtain the PyBullet Client ID from the environment ####
82 |     PYB_CLIENT = env.getPyBulletClient()
   |     ^^^^^^^^^^
83 |
84 |     #### Initialize the logger #################################
   |
help: Remove assignment to unused variable `PYB_CLIENT`

F841 Local variable `ARM_TIME` is assigned to but never used
   --> gym_pybullet_drones/examples/beta.py:120:5
    |
118 |         } for row in csv_reader]))
119 |     action = np.zeros((num_drones,4))
120 |     ARM_TIME = 1.
    |     ^^^^^^^^
121 |     TRAJ_TIME = 1.5
122 |     START = time.time()
    |
help: Remove assignment to unused variable `ARM_TIME`

F841 Local variable `TRAJ_TIME` is assigned to but never used
   --> gym_pybullet_drones/examples/beta.py:121:5
    |
119 |     action = np.zeros((num_drones,4))
120 |     ARM_TIME = 1.
121 |     TRAJ_TIME = 1.5
    |     ^^^^^^^^^
122 |     START = time.time()
123 |     for i in range(0, int(duration_sec*env.CTRL_FREQ)):
    |
help: Remove assignment to unused variable `TRAJ_TIME`

E722 Do not use bare `except`
   --> gym_pybullet_drones/examples/beta.py:137:17
    |
135 |                                                     target_vel=target["vel"]
136 |                                                     )
137 |                 except:
    |                 ^^^^^^
138 |                     break
    |

F401 [*] `csv` imported but unused
  --> gym_pybullet_drones/examples/cf.py:17:8
   |
15 | import argparse
16 | import numpy as np
17 | import csv
   |        ^^^
18 |
19 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |
help: Remove unused import: `csv`

F401 [*] `transforms3d.quaternions.rotate_vector` imported but unused
  --> gym_pybullet_drones/examples/cf.py:19:38
   |
17 | import csv
18 |
19 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |                                      ^^^^^^^^^^^^^
20 | from transforms3d.utils import normalized_vector
   |
help: Remove unused import

F401 [*] `transforms3d.quaternions.qconjugate` imported but unused
  --> gym_pybullet_drones/examples/cf.py:19:53
   |
17 | import csv
18 |
19 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |                                                     ^^^^^^^^^^
20 | from transforms3d.utils import normalized_vector
   |
help: Remove unused import

F401 [*] `transforms3d.quaternions.mat2quat` imported but unused
  --> gym_pybullet_drones/examples/cf.py:19:65
   |
17 | import csv
18 |
19 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |                                                                 ^^^^^^^^
20 | from transforms3d.utils import normalized_vector
   |
help: Remove unused import

F401 [*] `transforms3d.quaternions.qmult` imported but unused
  --> gym_pybullet_drones/examples/cf.py:19:75
   |
17 | import csv
18 |
19 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
   |                                                                           ^^^^^
20 | from transforms3d.utils import normalized_vector
   |
help: Remove unused import

F401 [*] `transforms3d.utils.normalized_vector` imported but unused
  --> gym_pybullet_drones/examples/cf.py:20:32
   |
19 | from transforms3d.quaternions import rotate_vector, qconjugate, mat2quat, qmult
20 | from transforms3d.utils import normalized_vector
   |                                ^^^^^^^^^^^^^^^^^
21 |
22 | from gym_pybullet_drones.utils.enums import DroneModel, Physics
   |
help: Remove unused import: `transforms3d.utils.normalized_vector`

F401 [*] `gym_pybullet_drones.control.CTBRControl.CTBRControl` imported but unused
  --> gym_pybullet_drones/examples/cf.py:24:53
   |
22 | from gym_pybullet_drones.utils.enums import DroneModel, Physics
23 | from gym_pybullet_drones.envs.CFAviary import CFAviary
24 | from gym_pybullet_drones.control.CTBRControl import CTBRControl
   |                                                     ^^^^^^^^^^^
25 | from gym_pybullet_drones.utils.Logger import Logger
26 | from gym_pybullet_drones.utils.utils import sync, str2bool
   |
help: Remove unused import: `gym_pybullet_drones.control.CTBRControl.CTBRControl`

F841 Local variable `PYB_CLIENT` is assigned to but never used
  --> gym_pybullet_drones/examples/cf.py:65:5
   |
64 |     #### Obtain the PyBullet Client ID from the environment ####
65 |     PYB_CLIENT = env.getPyBulletClient()
   |     ^^^^^^^^^^
66 |
67 |     #### Initialize the logger #################################
   |
help: Remove assignment to unused variable `PYB_CLIENT`

E722 Do not use bare `except`
  --> gym_pybullet_drones/examples/cf.py:98:13
   |
96 |                 rpy_rate = np.zeros(3)
97 |                 env.sendFullStateCmd(pos, vel, acc, yaw, rpy_rate, t)
98 |             except:
   |             ^^^^^^
99 |                 break
   |

F401 [*] `pybullet_data` imported but unused
 --> gym_pybullet_drones/examples/debug.py:4:8
  |
2 | import numpy as np
3 | import pybullet as p
4 | import pybullet_data
  |        ^^^^^^^^^^^^^
5 |
6 | DURATION_SEC = 5
  |
help: Remove unused import: `pybullet_data`

E702 Multiple statements on one line (semicolon)
  --> gym_pybullet_drones/examples/debug.py:8:12
   |
 6 | DURATION_SEC = 5
 7 |
 8 | X_AX_1 = -1; Y_AX_1 = -1; Z_AX_1 = -1;
   |            ^
 9 | X_AX_2 = -1; Y_AX_2 = -1; Z_AX_2 = -1; 
10 | TEXT = -1
   |

E702 Multiple statements on one line (semicolon)
  --> gym_pybullet_drones/examples/debug.py:8:25
   |
 6 | DURATION_SEC = 5
 7 |
 8 | X_AX_1 = -1; Y_AX_1 = -1; Z_AX_1 = -1;
   |                         ^
 9 | X_AX_2 = -1; Y_AX_2 = -1; Z_AX_2 = -1; 
10 | TEXT = -1
   |

E703 [*] Statement ends with an unnecessary semicolon
  --> gym_pybullet_drones/examples/debug.py:8:38
   |
 6 | DURATION_SEC = 5
 7 |
 8 | X_AX_1 = -1; Y_AX_1 = -1; Z_AX_1 = -1;
   |                                      ^
 9 | X_AX_2 = -1; Y_AX_2 = -1; Z_AX_2 = -1; 
10 | TEXT = -1
   |
help: Remove unnecessary semicolon

E702 Multiple statements on one line (semicolon)
  --> gym_pybullet_drones/examples/debug.py:9:12
   |
 8 | X_AX_1 = -1; Y_AX_1 = -1; Z_AX_1 = -1;
 9 | X_AX_2 = -1; Y_AX_2 = -1; Z_AX_2 = -1; 
   |            ^
10 | TEXT = -1
   |

E702 Multiple statements on one line (semicolon)
  --> gym_pybullet_drones/examples/debug.py:9:25
   |
 8 | X_AX_1 = -1; Y_AX_1 = -1; Z_AX_1 = -1;
 9 | X_AX_2 = -1; Y_AX_2 = -1; Z_AX_2 = -1; 
   |                         ^
10 | TEXT = -1
   |

E703 [*] Statement ends with an unnecessary semicolon
  --> gym_pybullet_drones/examples/debug.py:9:38
   |
 8 | X_AX_1 = -1; Y_AX_1 = -1; Z_AX_1 = -1;
 9 | X_AX_2 = -1; Y_AX_2 = -1; Z_AX_2 = -1; 
   |                                      ^
10 | TEXT = -1
   |
help: Remove unnecessary semicolon

E702 Multiple statements on one line (semicolon)
  --> gym_pybullet_drones/examples/debug.py:15:41
   |
13 | if __name__ == "__main__":
14 |
15 |     PYB_CLIENT = p.connect(p.GUI, key=0); p.setRealTimeSimulation(0, physicsClientId=PYB_CLIENT); p.setTimeStep(1/240, physicsClientId…
   |                                         ^
16 |     p.resetDebugVisualizerCamera(cameraDistance=3, cameraYaw=-30, cameraPitch=-30, cameraTargetPosition=[0.0,0.0,0.0], physicsClientId…
17 |     p.setGravity(0, 0, 0, physicsClientId=PYB_CLIENT) # Make objects weightless
   |

E702 Multiple statements on one line (semicolon)
  --> gym_pybullet_drones/examples/debug.py:15:97
   |
13 | if __name__ == "__main__":
14 |
15 |     PYB_CLIENT = p.connect(p.GUI, key=0); p.setRealTimeSimulation(0, physicsClientId=PYB_CLIENT); p.setTimeStep(1/240, physicsClientId…
   |                                                                                                 ^
16 |     p.resetDebugVisualizerCamera(cameraDistance=3, cameraYaw=-30, cameraPitch=-30, cameraTargetPosition=[0.0,0.0,0.0], physicsClientId…
17 |     p.setGravity(0, 0, 0, physicsClientId=PYB_CLIENT) # Make objects weightless
   |

E701 Multiple statements on one line (colon)
   --> gym_pybullet_drones/examples/debug.py:100:27
    |
 98 |         p.stepSimulation(physicsClientId=PYB_CLIENT)
 99 |         elapsed = time.time()-START
100 |         if elapsed < i/240: time.sleep(i/240-elapsed)    
    |                           ^
101 |
102 |     # p.stopStateLogging(VIDEO, physicsClientId=PYB_CLIENT)
    |

F401 [*] `gymnasium` imported but unused
  --> gym_pybullet_drones/examples/learn.py:22:21
   |
20 | from datetime import datetime
21 | import argparse
22 | import gymnasium as gym
   |                     ^^^
23 | import numpy as np
24 | import matplotlib.pyplot as plt
   |
help: Remove unused import: `gymnasium`

F401 [*] `torch` imported but unused
  --> gym_pybullet_drones/examples/learn.py:25:8
   |
23 | import numpy as np
24 | import matplotlib.pyplot as plt
25 | import torch
   |        ^^^^^
26 | from stable_baselines3 import PPO
27 | from stable_baselines3.common.env_util import make_vec_env
   |
help: Remove unused import: `torch`

F401 [*] `pybullet` imported but unused
 --> gym_pybullet_drones/examples/mrac.py:4:20
  |
3 | import numpy as np
4 | import pybullet as p
  |                    ^
5 | import matplotlib.pyplot as plt
6 | import pybullet_data
  |
help: Remove unused import: `pybullet`

F401 [*] `matplotlib.pyplot` imported but unused
 --> gym_pybullet_drones/examples/mrac.py:5:29
  |
3 | import numpy as np
4 | import pybullet as p
5 | import matplotlib.pyplot as plt
  |                             ^^^
6 | import pybullet_data
  |
help: Remove unused import: `matplotlib.pyplot`

F401 [*] `pybullet_data` imported but unused
 --> gym_pybullet_drones/examples/mrac.py:6:8
  |
4 | import pybullet as p
5 | import matplotlib.pyplot as plt
6 | import pybullet_data
  |        ^^^^^^^^^^^^^
7 |
8 | from gym_pybullet_drones.utils.enums import DroneModel, Physics
  |
help: Remove unused import: `pybullet_data`

F401 [*] `gym_pybullet_drones.utils.utils.str2bool` imported but unused
  --> gym_pybullet_drones/examples/mrac.py:12:51
   |
10 | from gym_pybullet_drones.control.MRAC import MRAC
11 | from gym_pybullet_drones.utils.Logger import Logger
12 | from gym_pybullet_drones.utils.utils import sync, str2bool
   |                                                   ^^^^^^^^
13 |
14 | DEFAULT_DRONES = DroneModel("cf2x")
   |
help: Remove unused import: `gym_pybullet_drones.utils.utils.str2bool`

F841 Local variable `PYB_CLIENT` is assigned to but never used
  --> gym_pybullet_drones/examples/mrac.py:65:5
   |
64 |     #### Obtain the PyBullet Client ID from the environment ####
65 |     PYB_CLIENT = env.getPyBulletClient()
   |     ^^^^^^^^^^
66 |
67 |     #### Initialize the logger #################################
   |
help: Remove assignment to unused variable `PYB_CLIENT`

F401 [*] `os` imported but unused
  --> gym_pybullet_drones/examples/pid.py:18:8
   |
17 | """
18 | import os
   |        ^^
19 | import time
20 | import argparse
   |
help: Remove unused import: `os`

F401 [*] `datetime.datetime` imported but unused
  --> gym_pybullet_drones/examples/pid.py:21:22
   |
19 | import time
20 | import argparse
21 | from datetime import datetime
   |                      ^^^^^^^^
22 | import pdb
23 | import math
   |
help: Remove unused import: `datetime.datetime`

F401 [*] `pdb` imported but unused
  --> gym_pybullet_drones/examples/pid.py:22:8
   |
20 | import argparse
21 | from datetime import datetime
22 | import pdb
   |        ^^^
23 | import math
24 | import random
   |
help: Remove unused import: `pdb`

F401 [*] `math` imported but unused
  --> gym_pybullet_drones/examples/pid.py:23:8
   |
21 | from datetime import datetime
22 | import pdb
23 | import math
   |        ^^^^
24 | import random
25 | import numpy as np
   |
help: Remove unused import: `math`

F401 [*] `random` imported but unused
  --> gym_pybullet_drones/examples/pid.py:24:8
   |
22 | import pdb
23 | import math
24 | import random
   |        ^^^^^^
25 | import numpy as np
26 | import pybullet as p
   |
help: Remove unused import: `random`

F401 [*] `pybullet` imported but unused
  --> gym_pybullet_drones/examples/pid.py:26:20
   |
24 | import random
25 | import numpy as np
26 | import pybullet as p
   |                    ^
27 | import matplotlib.pyplot as plt
   |
help: Remove unused import: `pybullet`

F401 [*] `matplotlib.pyplot` imported but unused
  --> gym_pybullet_drones/examples/pid.py:27:29
   |
25 | import numpy as np
26 | import pybullet as p
27 | import matplotlib.pyplot as plt
   |                             ^^^
28 |
29 | from gym_pybullet_drones.utils.enums import DroneModel, Physics
   |
help: Remove unused import: `matplotlib.pyplot`

F841 Local variable `PYB_CLIENT` is assigned to but never used
   --> gym_pybullet_drones/examples/pid.py:116:5
    |
115 |     #### Obtain the PyBullet Client ID from the environment ####
116 |     PYB_CLIENT = env.getPyBulletClient()
    |     ^^^^^^^^^^
117 |
118 |     #### Initialize the logger #################################
    |
help: Remove assignment to unused variable `PYB_CLIENT`

F401 [*] `os` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:16:8
   |
15 | """
16 | import os
   |        ^^
17 | import time
18 | import argparse
   |
help: Remove unused import: `os`

F401 [*] `datetime.datetime` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:19:22
   |
17 | import time
18 | import argparse
19 | from datetime import datetime
   |                      ^^^^^^^^
20 | import pdb
21 | import math
   |
help: Remove unused import: `datetime.datetime`

F401 [*] `pdb` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:20:8
   |
18 | import argparse
19 | from datetime import datetime
20 | import pdb
   |        ^^^
21 | import math
22 | import random
   |
help: Remove unused import: `pdb`

F401 [*] `math` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:21:8
   |
19 | from datetime import datetime
20 | import pdb
21 | import math
   |        ^^^^
22 | import random
23 | import numpy as np
   |
help: Remove unused import: `math`

F401 [*] `random` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:22:8
   |
20 | import pdb
21 | import math
22 | import random
   |        ^^^^^^
23 | import numpy as np
24 | import pybullet as p
   |
help: Remove unused import: `random`

F401 [*] `pybullet` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:24:20
   |
22 | import random
23 | import numpy as np
24 | import pybullet as p
   |                    ^
25 | import matplotlib.pyplot as plt
   |
help: Remove unused import: `pybullet`

F401 [*] `matplotlib.pyplot` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:25:29
   |
23 | import numpy as np
24 | import pybullet as p
25 | import matplotlib.pyplot as plt
   |                             ^^^
26 |
27 | from gym_pybullet_drones.utils.enums import DroneModel, Physics
   |
help: Remove unused import: `matplotlib.pyplot`

F401 [*] `gym_pybullet_drones.envs.CtrlAviary.CtrlAviary` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:28:49
   |
27 | from gym_pybullet_drones.utils.enums import DroneModel, Physics
28 | from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
   |                                                 ^^^^^^^^^^
29 | from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
30 | from gym_pybullet_drones.utils.Logger import Logger
   |
help: Remove unused import: `gym_pybullet_drones.envs.CtrlAviary.CtrlAviary`

F401 [*] `gym_pybullet_drones.control.DSLPIDControl.DSLPIDControl` imported but unused
  --> gym_pybullet_drones/examples/pid_velocity.py:29:55
   |
27 | from gym_pybullet_drones.utils.enums import DroneModel, Physics
28 | from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
29 | from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
   |                                                       ^^^^^^^^^^^^^
30 | from gym_pybullet_drones.utils.Logger import Logger
31 | from gym_pybullet_drones.utils.utils import sync, str2bool
   |
help: Remove unused import: `gym_pybullet_drones.control.DSLPIDControl.DSLPIDControl`

F841 Local variable `PHY` is assigned to but never used
  --> gym_pybullet_drones/examples/pid_velocity.py:73:5
   |
71 |                           [0, 0, np.pi/2]
72 |                           ])
73 |     PHY = Physics.PYB
   |     ^^^
74 |
75 |     #### Create the environment ################################
   |
help: Remove assignment to unused variable `PHY`

F841 Local variable `PYB_CLIENT` is assigned to but never used
  --> gym_pybullet_drones/examples/pid_velocity.py:91:5
   |
90 |     #### Obtain the PyBullet Client ID from the environment ####
91 |     PYB_CLIENT = env.getPyBulletClient()
   |     ^^^^^^^^^^
92 |     DRONE_IDS = env.getDroneIds()
   |
help: Remove assignment to unused variable `PYB_CLIENT`

F841 Local variable `DRONE_IDS` is assigned to but never used
  --> gym_pybullet_drones/examples/pid_velocity.py:92:5
   |
90 |     #### Obtain the PyBullet Client ID from the environment ####
91 |     PYB_CLIENT = env.getPyBulletClient()
92 |     DRONE_IDS = env.getDroneIds()
   |     ^^^^^^^^^
93 |
94 |     #### Compute number of control steps in the simlation ######
   |
help: Remove assignment to unused variable `DRONE_IDS`

F401 [*] `gymnasium` imported but unused
 --> gym_pybullet_drones/examples/play.py:5:21
  |
3 | import argparse
4 | import numpy as np
5 | import gymnasium as gym
  |                     ^^^
6 | from stable_baselines3 import PPO
7 | from gym_pybullet_drones.envs.HoverAviary import HoverAviary
  |
help: Remove unused import: `gymnasium`

F401 [*] `numpy` imported but unused
 --> gym_pybullet_drones/utils/utils.py:5:17
  |
3 | import time
4 | import argparse
5 | import numpy as np
  |                 ^^
6 | from scipy.optimize import nnls
  |
help: Remove unused import: `numpy`

F401 [*] `scipy.optimize.nnls` imported but unused
 --> gym_pybullet_drones/utils/utils.py:6:28
  |
4 | import argparse
5 | import numpy as np
6 | from scipy.optimize import nnls
  |                            ^^^^
7 |
8 | ################################################################################
  |
help: Remove unused import: `scipy.optimize.nnls`

F401 [*] `gym_pybullet_drones.utils` imported but unused
 --> tests/test_build.py:6:12
  |
4 |     import gym_pybullet_drones.envs
5 |     import gym_pybullet_drones.examples
6 |     import gym_pybullet_drones.utils
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^
  |
help: Remove unused import: `gym_pybullet_drones.utils`

Found 78 errors.
[*] 48 fixable with the `--fix` option (15 hidden fixes can be enabled with the `--unsafe-fixes` option).

pyright .

/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/BaseControl.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/BaseControl.py:34:24 - error: Operator "*" not supported for types "float" and "float | None"
    Operator "*" not supported for types "float" and "None" (reportOperatorIssue)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/CTBRControl.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/CTBRControl.py:40:24 - error: Operator "*" not supported for types "float" and "float | None"
    Operator "*" not supported for types "float" and "None" (reportOperatorIssue)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/DSLPIDControl.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/DSLPIDControl.py:198:45 - error: Operator "*" not supported for types "Literal[4]" and "float | None"
    Operator "*" not supported for types "Literal[4]" and "None" (reportOperatorIssue)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/DSLPIDControl.py:280:50 - error: Operator "*" not supported for "None" (reportOptionalOperand)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/MRAC.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/MRAC.py:26:18 - error: No overloads for "diag" match the provided arguments (reportCallIssue)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/MRAC.py:26:26 - error: Argument of type "list[float | None]" cannot be assigned to parameter "v" of type "ArrayLike" in function "diag"
    Type "list[float | None]" is not assignable to type "ArrayLike"
      "list[float | None]" is incompatible with protocol "_Buffer"
        "__buffer__" is not present
      "list[float | None]" is incompatible with protocol "_SupportsArray[dtype[Any]]"
        "__array__" is not present
      "list[float | None]" is incompatible with protocol "_NestedSequence[_SupportsArray[dtype[Any]]]"
        "__getitem__" is an incompatible type
          No overloaded function matches type "(index: int, /) -> (_T_co@_NestedSequence | _NestedSequence[_T_co@_NestedSequence])"
    ... (reportArgumentType)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/MRAC.py:76:28 - error: Operator "/" not supported for types "Literal[1]" and "float | None"
    Operator "/" not supported for types "Literal[1]" and "None" (reportOperatorIssue)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/MRAC.py:77:31 - error: Operator "/" not supported for types "Literal[1]" and "float | None"
    Operator "/" not supported for types "Literal[1]" and "None" (reportOperatorIssue)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/MRAC.py:78:34 - error: Operator "/" not supported for types "Literal[1]" and "float | None"
    Operator "/" not supported for types "Literal[1]" and "None" (reportOperatorIssue)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/MRAC.py:79:37 - error: Operator "/" not supported for types "Literal[1]" and "float | None"
    Operator "/" not supported for types "Literal[1]" and "None" (reportOperatorIssue)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/control/MRAC.py:144:38 - error: Operator "*" not supported for types "Literal[4]" and "float | None"
    Operator "*" not supported for types "Literal[4]" and "None" (reportOperatorIssue)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py:220:9 - error: Method "reset" overrides class "Env" in an incompatible manner
    Parameter "seed" is missing in override
    Parameter "options" is missing in override (reportIncompatibleMethodOverride)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py:221:28 - error: Expression of type "None" cannot be assigned to parameter of type "int"
    "None" is not assignable to "int" (reportArgumentType)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py:222:32 - error: Expression of type "None" cannot be assigned to parameter of type "dict[Unknown, Unknown]"
    "None" is not assignable to "dict[Unknown, Unknown]" (reportArgumentType)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py:654:30 - error: "temp" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py:855:29 - error: "x_torque" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py:855:39 - error: "y_torque" is possibly unbound (reportPossiblyUnboundVariable)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseRLAviary.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BaseRLAviary.py:220:68 - error: Argument of type "NDArray[Any]" cannot be assigned to parameter "target_rpy" of type "_Array1D[float64]" in function "computeControl"
    "ndarray[_Shape, dtype[Any]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BetaAviary.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/BetaAviary.py:111:9 - error: Method "step" overrides class "BaseAviary" in an incompatible manner
    Positional parameter count mismatch; base method has 2, but override has 3 (reportIncompatibleMethodOverride)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:11:12 - error: Import "pycffirmware" could not be resolved (reportMissingImports)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:13:11 - error: Invalid exception class or object
    "Literal['PyCFFirmware required for CF Aviary. Please instal…']" does not derive from BaseException (reportGeneralTypeIssues)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:187:9 - error: Method "step" overrides class "BaseAviary" in an incompatible manner
    Parameter 2 name mismatch: base parameter is named "action", override parameter is named "i" (reportIncompatibleMethodOverride)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:261:16 - error: "obs" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:261:21 - error: "reward" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:261:29 - error: "terminated" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:261:41 - error: "truncated" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:261:52 - error: "info" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/CFAviary.py:652:25 - error: No overloads for "clip" match the provided arguments
    Argument types: (list[Unknown], Literal[20000]) (reportCallIssue)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/VelocityAviary.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/envs/VelocityAviary.py:164:64 - error: Argument of type "NDArray[Any]" cannot be assigned to parameter "target_rpy" of type "_Array1D[float64]" in function "computeControl"
    "ndarray[_Shape, dtype[Any]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/beta.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/beta.py:135:64 - error: Argument of type "NDArray[Any]" cannot be assigned to parameter "target_vel" of type "_Array1D[float64]" in function "computeControlFromState"
    "ndarray[_Shape, dtype[Any]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/downwash.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/downwash.py:101:32 - error: Argument of type "NDArray[float64]" cannot be assigned to parameter "control" of type "_Array1D[float64]" in function "log"
    "ndarray[_Shape, dtype[float64]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/learn.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/learn.py:127:22 - error: "path" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/learn.py:158:41 - error: Argument of type "Unknown | tuple[Unknown, Unknown]" cannot be assigned to parameter "observation" of type "ndarray[Unknown, Unknown] | dict[str, ndarray[Unknown, Unknown]]" in function "predict"
    Type "Unknown | tuple[Unknown, Unknown]" is not assignable to type "ndarray[Unknown, Unknown] | dict[str, ndarray[Unknown, Unknown]]"
      Type "tuple[Unknown, Unknown]" is not assignable to type "ndarray[Unknown, Unknown] | dict[str, ndarray[Unknown, Unknown]]"
        "tuple[Unknown, Unknown]" is not assignable to "ndarray[Unknown, Unknown]"
        "tuple[Unknown, Unknown]" is not assignable to "dict[str, ndarray[Unknown, Unknown]]" (reportArgumentType)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/mrac.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/mrac.py:86:33 - error: "ctrl" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/mrac.py:89:76 - error: Argument of type "ndarray[_Shape, dtype[Any]]" cannot be assigned to parameter "target_rpy" of type "_Array1D[float64]" in function "computeControlFromState"
    "ndarray[_Shape, dtype[Any]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/mrac.py:97:29 - error: Argument of type "NDArray[float64]" cannot be assigned to parameter "control" of type "_Array1D[float64]" in function "log"
    "ndarray[_Shape, dtype[float64]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/pid.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/pid.py:142:34 - error: "ctrl" is possibly unbound (reportPossiblyUnboundVariable)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/pid.py:146:80 - error: Argument of type "ndarray[_Shape, dtype[Unknown]]" cannot be assigned to parameter "target_rpy" of type "_Array1D[float64]" in function "computeControlFromState"
    "ndarray[_Shape, dtype[Unknown]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/pid.py:158:32 - error: Argument of type "NDArray[float64]" cannot be assigned to parameter "control" of type "_Array1D[float64]" in function "log"
    "ndarray[_Shape, dtype[float64]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
/Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/pid_velocity.py
  /Users/jacopo/GitHub/gym-pybullet-drones/gym_pybullet_drones/examples/pid_velocity.py:138:32 - error: Argument of type "NDArray[float64]" cannot be assigned to parameter "control" of type "_Array1D[float64]" in function "log"
    "ndarray[_Shape, dtype[float64]]" is not assignable to "ndarray[tuple[int], dtype[float64]]"
      Type parameter "_ShapeT_co@ndarray" is covariant, but "_Shape" is not a subtype of "tuple[int]"
        "tuple[int, ...]" is not assignable to "tuple[int]"
          Tuple size mismatch; expected 1 but received indeterminate (reportArgumentType)
40 errors, 0 warnings, 0 informations