fixed #828

apis/python/node/dora/__init__.py

@@ -4,7 +4,7 @@ This is the dora python client for interacting with dora dataflow.
 You can install it via:
 ```bash
 pip install dora-rs
-```
+```.
 """
 
 from enum import Enum

apis/python/node/dora/__init__.pyi

@@ -142,7 +142,7 @@ class Ros2Context:
         """
 
     def new_node(self, name: str, namespace: str, options: dora.Ros2NodeOptions) -> dora.Ros2Node:
-        """Create a new ROS2 node
+        """Create a new ROS2 node.
 
         ```python
         ros2_node = ros2_context.new_node(
@@ -159,7 +159,7 @@ class Ros2Context:
 
 @typing.final
 class Ros2Durability:
-    """DDS 2.2.3.4 DURABILITY"""
+    """DDS 2.2.3.4 DURABILITY."""
 
     def __eq__(self, value: object) -> bool:
         """Return self==value."""
@@ -171,7 +171,7 @@ class Ros2Durability:
         """Return self>value."""
 
     def __int__(self) -> None:
-        """int(self)"""
+        """int(self)."""
 
     def __le__(self, value: typing.Any) -> bool:
         """Return self<=value."""
@@ -189,7 +189,7 @@ class Ros2Durability:
 
 @typing.final
 class Ros2Liveliness:
-    """DDS 2.2.3.11 LIVELINESS"""
+    """DDS 2.2.3.11 LIVELINESS."""
 
     def __eq__(self, value: object) -> bool:
         """Return self==value."""
@@ -201,7 +201,7 @@ class Ros2Liveliness:
         """Return self>value."""
 
     def __int__(self) -> None:
-        """int(self)"""
+        """int(self)."""
 
     def __le__(self, value: typing.Any) -> bool:
         """Return self<=value."""
@@ -218,7 +218,7 @@ class Ros2Liveliness:
 
 @typing.final
 class Ros2Node:
-    """ROS2 Node
+    """ROS2 Node.
 
     warnings::
     - dora Ros2 bridge functionality is considered **unstable**. It may be changed
@@ -228,7 +228,7 @@ class Ros2Node:
     """
 
     def create_publisher(self, topic: dora.Ros2Topic, qos: dora.Ros2QosPolicies=None) -> dora.Ros2Publisher:
-        """Create a ROS2 publisher
+        """Create a ROS2 publisher.
 
         ```python
         pose_publisher = ros2_node.create_publisher(turtle_pose_topic)
@@ -239,7 +239,7 @@ class Ros2Node:
         """
 
     def create_subscription(self, topic: dora.Ros2Topic, qos: dora.Ros2QosPolicies=None) -> dora.Ros2Subscription:
-        """Create a ROS2 subscription
+        """Create a ROS2 subscription.
 
         ```python
         pose_reader = ros2_node.create_subscription(turtle_pose_topic)
@@ -263,14 +263,14 @@ class Ros2Node:
 
 @typing.final
 class Ros2NodeOptions:
-    """ROS2 Node Options"""
+    """ROS2 Node Options."""
 
     def __init__(self, rosout: bool=None) -> None:
-        """ROS2 Node Options"""
+        """ROS2 Node Options."""
 
 @typing.final
 class Ros2Publisher:
-    """ROS2 Publisher
+    """ROS2 Publisher.
 
     Warnings:
     - dora Ros2 bridge functionality is considered **unstable**. It may be changed
@@ -300,14 +300,14 @@ class Ros2Publisher:
 
 @typing.final
 class Ros2QosPolicies:
-    """ROS2 QoS Policy"""
+    """ROS2 QoS Policy."""
 
     def __init__(self, durability: dora.Ros2Durability=None, liveliness: dora.Ros2Liveliness=None, reliable: bool=None, keep_all: bool=None, lease_duration: float=None, max_blocking_time: float=None, keep_last: int=None) -> dora.Ros2QoSPolicies:
-        """ROS2 QoS Policy"""
+        """ROS2 QoS Policy."""
 
 @typing.final
 class Ros2Subscription:
-    """ROS2 Subscription
+    """ROS2 Subscription.
 
     Warnings:
     - dora Ros2 bridge functionality is considered **unstable**. It may be changed
@@ -319,7 +319,7 @@ class Ros2Subscription:
 
 @typing.final
 class Ros2Topic:
-    """ROS2 Topic
+    """ROS2 Topic.
 
     Warnings:
     - dora Ros2 bridge functionality is considered **unstable**. It may be changed
@@ -328,4 +328,4 @@ class Ros2Topic:
     """
 
 def start_runtime() -> None:
-    """Start a runtime for Operators"""
+    """Start a runtime for Operators."""

apis/python/node/pyproject.toml

@@ -16,3 +16,8 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [tool.maturin]
 features = ["pyo3/extension-module"]
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

binaries/cli/pyproject.toml

@@ -12,3 +12,8 @@ dependencies = ['dora-rs >= 0.3.9', 'uv']
 
 [tool.maturin]
 features = ["python", "pyo3/extension-module"]
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

binaries/cli/src/template/python/__node-name__/pyproject.toml

@@ -14,3 +14,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 __node-name__ = "__node_name__.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

binaries/cli/src/template/python/operator/operator-template.py

@@ -2,11 +2,10 @@ from dora import DoraStatus
 
 
 class Operator:
-    """Template docstring
-    """
+    """Template docstring."""
 
     def __init__(self):
-        """Called on initialisation"""
+        """Called on initialisation."""
 
     def on_event(
         self,
@@ -20,7 +19,7 @@ class Operator:
                 - First argument is the `output_id`
                 - Second argument is the data as either bytes or `pa.Array`
                 - Third argument is dora metadata dict
-                e.g.: `send_output("bbox", pa.array([100], type=pa.uint8()), dora_event["metadata"])`
+                e.g.: `send_output("bbox", pa.array([100], type=pa.uint8()), dora_event["metadata"])`.
 
         Returns:
             DoraStatus:
@@ -37,4 +36,4 @@ class Operator:
         return DoraStatus.CONTINUE
 
     def __del__(self):
-        """Called before being deleted"""
+        """Called before being deleted."""

examples/piper/convert.py

@@ -3,8 +3,7 @@ from scipy.spatial.transform import Rotation as R
 
 
 def convert_quaternion_to_euler(quat):
-    """Convert Quaternion (xyzw) to Euler angles (rpy)
-    """
+    """Convert Quaternion (xyzw) to Euler angles (rpy)."""
     # Normalize
     quat = quat / np.linalg.norm(quat)
     euler = R.from_quat(quat).as_euler("xyz")
@@ -13,24 +12,21 @@ def convert_quaternion_to_euler(quat):
 
 
 def convert_euler_to_quaternion(euler):
-    """Convert Euler angles (rpy) to Quaternion (xyzw)
-    """
+    """Convert Euler angles (rpy) to Quaternion (xyzw)."""
     quat = R.from_euler("xyz", euler).as_quat()
 
     return quat
 
 
 def convert_euler_to_rotation_matrix(euler):
-    """Convert Euler angles (rpy) to rotation matrix (3x3).
-    """
+    """Convert Euler angles (rpy) to rotation matrix (3x3)."""
     quat = R.from_euler("xyz", euler).as_matrix()
 
     return quat
 
 
 def convert_rotation_matrix_to_euler(rotmat):
-    """Convert rotation matrix (3x3) to Euler angles (rpy).
-    """
+    """Convert rotation matrix (3x3) to Euler angles (rpy)."""
     r = R.from_matrix(rotmat)
     euler = r.as_euler("xyz", degrees=False)
 

examples/python-operator-dataflow/file_saver_op.py

@@ -3,8 +3,7 @@ from dora import DoraStatus
 
 
 class Operator:
-    """Inferring object from images
-    """
+    """Inferring object from images."""
 
     def __init__(self):
         self.last_file = ""

examples/python-operator-dataflow/llm_op.py

@@ -170,8 +170,7 @@ def find_best_match_location(source_code, target_block):
 
 
 def replace_code_in_source(source_code, replacement_block: str):
-    """Replace the best matching block in the source_code with the replacement_block, considering variable block lengths.
-    """
+    """Replace the best matching block in the source_code with the replacement_block, considering variable block lengths."""
     replacement_block = extract_python_code_blocks(replacement_block)[0]
     start_index, end_index = find_best_match_location(source_code, replacement_block)
     if start_index != -1 and end_index != -1:

examples/python-operator-dataflow/microphone_op.py

@@ -9,8 +9,7 @@ MAX_DURATION = 5
 
 
 class Operator:
-    """Microphone operator that records the audio
-    """
+    """Microphone operator that records the audio."""
 
     def on_event(
         self,

examples/python-operator-dataflow/object_detection.py

@@ -11,8 +11,7 @@ model = YOLO("yolov8n.pt")
 
 
 class Operator:
-    """Inferring object from images
-    """
+    """Inferring object from images."""
 
     def on_event(
         self,

examples/python-operator-dataflow/plot.py

@@ -13,8 +13,7 @@ FONT = cv2.FONT_HERSHEY_SIMPLEX
 
 
 class Operator:
-    """Plot image and bounding box
-    """
+    """Plot image and bounding box."""
 
     def __init__(self):
         self.bboxs = []

examples/python-operator-dataflow/webcam.py

@@ -15,8 +15,7 @@ font = cv2.FONT_HERSHEY_SIMPLEX
 
 
 class Operator:
-    """Sending image from webcam to the dataflow
-    """
+    """Sending image from webcam to the dataflow."""
 
     def __init__(self):
         self.video_capture = cv2.VideoCapture(CAMERA_INDEX)

examples/python-operator-dataflow/whisper_op.py

@@ -6,8 +6,7 @@ model = whisper.load_model("base")
 
 
 class Operator:
-    """Transforming Speech to Text using OpenAI Whisper model
-    """
+    """Transforming Speech to Text using OpenAI Whisper model."""
 
     def on_event(
         self,

libraries/extensions/ros2-bridge/python/test_utils.py

@@ -261,8 +261,7 @@ TEST_ARRAYS = [
 
 
 def is_subset(subset, superset):
-    """Check if subset is a subset of superset, to avoid false negatives linked to default values.
-    """
+    """Check if subset is a subset of superset, to avoid false negatives linked to default values."""
     if isinstance(subset, pa.Array):
         return is_subset(subset.to_pylist(), superset.to_pylist())
 

node-hub/dora-argotranslate/pyproject.toml

@@ -18,3 +18,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-argotranslate = "dora_argotranslate.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-distil-whisper/pyproject.toml

@@ -27,3 +27,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-distil-whisper = "dora_distil_whisper.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-echo/pyproject.toml

@@ -17,3 +17,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-echo = "dora_echo.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-internvl/pyproject.toml

@@ -30,3 +30,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-internvl = "dora_internvl.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-ios-lidar/dora_ios_lidar/main.py

@@ -16,8 +16,7 @@ class DemoApp:
         self.stop = False
 
     def on_new_frame(self):
-        """This method is called from non-main thread, therefore cannot be used for presenting UI.
-        """
+        """This method is called from non-main thread, therefore cannot be used for presenting UI."""
         self.event.set()  # Notify the main thread to stop waiting and process new frame.
 
     def on_stream_stopped(self):

node-hub/dora-ios-lidar/pyproject.toml

@@ -14,3 +14,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-ios-lidar = "dora_ios_lidar.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-keyboard/pyproject.toml

@@ -23,3 +23,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-keyboard = "dora_keyboard.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-kit-car/pyproject.toml

@@ -15,3 +15,9 @@ scripts = { "dora-kit-car" = "dora_kit_car:py_main" }
 
 [tool.maturin]
 features = ["python", "pyo3/extension-module"]
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-kokoro-tts/pyproject.toml

@@ -14,3 +14,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-kokoro-tts = "dora_kokoro_tts.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-microphone/pyproject.toml

@@ -23,3 +23,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-microphone = "dora_microphone.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-object-to-pose/pyproject.toml

@@ -14,3 +14,9 @@ scripts = { "dora-object-to-pose" = "dora_object_to_pose:py_main" }
 
 [tool.maturin]
 features = ["python", "pyo3/extension-module"]
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-openai-server/pyproject.toml

@@ -29,4 +29,5 @@ dora-openai-server = "dora_openai_server.main:main"
 
 
 [tool.ruff.lint]
-extend-select = ["I"]
+extend-select = ["I","D"]
+

node-hub/dora-opus/pyproject.toml

@@ -27,3 +27,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-opus = "dora_opus.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-outtetts/pyproject.toml

@@ -27,3 +27,9 @@ llama-cpp-python = [
 
 [project.scripts]
 dora-outtetts = "dora_outtetts.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-parler/pyproject.toml

@@ -29,3 +29,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-parler = "dora_parler.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-piper/dora_piper/main.py

@@ -10,8 +10,7 @@ TEACH_MODE = os.getenv("TEACH_MODE", "False") in ["True", "true"]
 
 
 def enable_fun(piper: C_PiperInterface):
-    """使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
-    """
+    """使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序."""
     enable_flag = False
     # 设置超时时间（秒）
     timeout = 5

node-hub/dora-piper/pyproject.toml

@@ -14,3 +14,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-piper = "dora_piper.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-pyaudio/dora_pyaudio/main.py

@@ -16,7 +16,7 @@ def play_audio(
     sample_rate: int,
     stream: pyaudio.Stream = None,
 ) -> pyaudio.Stream:
-    """Play audio using pyaudio and replace stream if already exists"""
+    """Play audio using pyaudio and replace stream if already exists."""
     if np.issubdtype(audio_array.dtype, np.floating):
         audio_array = audio_array * 70_000
         audio_array = audio_array.astype(np.int16)
@@ -32,7 +32,7 @@ def play_audio(
 
 
 def main():
-    """Main function for the node"""
+    """Main function for the node."""
     node = Node()
     stream = None
     audio = np.array([])

node-hub/dora-pyaudio/pyproject.toml

@@ -19,3 +19,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-pyaudio = "dora_pyaudio.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-pyorbbecksdk/pyproject.toml

@@ -18,3 +18,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-pyorbbecksdk = "dora_pyorbbecksdk.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-pyrealsense/pyproject.toml

@@ -20,3 +20,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-pyrealsense = "dora_pyrealsense.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-qwen/pyproject.toml

@@ -41,3 +41,9 @@ explicit = true
 
 [project.scripts]
 dora-qwen = "dora_qwen.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-qwen2-5-vl/pyproject.toml

@@ -48,3 +48,9 @@ dora-qwen2-5-vl = "dora_qwen2_5_vl.main:main"
 [build-system]
 requires = ["setuptools", "setuptools-scm"]
 build-backend = "setuptools.build_meta"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-qwenvl/dora_qwenvl/main.py

@@ -53,8 +53,7 @@ processor = AutoProcessor.from_pretrained(MODEL_NAME_OR_PATH)
 
 
 def generate(frames: dict, question):
-    """Generate the response to the question given the image using Qwen2 model.
-    """
+    """Generate the response to the question given the image using Qwen2 model."""
     messages = [
         {
             "role": "user",

node-hub/dora-qwenvl/pyproject.toml

@@ -35,3 +35,9 @@ transformers = { git = "https://github.com/huggingface/transformers" }
 
 [project.scripts]
 dora-qwenvl = "dora_qwenvl.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-rdt-1b/pyproject.toml

@@ -47,3 +47,9 @@ exclude = ["dora_rdt_1b/RoboticsDiffusionTransformer"]
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-reachy2/pyproject.toml

@@ -23,3 +23,9 @@ dora-reachy2-left-arm = "dora_reachy2.left_arm:main"
 dora-reachy2-right-arm = "dora_reachy2.right_arm:main"
 dora-reachy2-mobile-base = "dora_reachy2.mobile_base:main"
 dora-reachy2-head = "dora_reachy2.head:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-rerun/pyproject.toml

@@ -18,3 +18,9 @@ scripts = { "dora-rerun" = "dora_rerun:py_main" }
 
 [tool.maturin]
 features = ["python", "pyo3/extension-module"]
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-sam2/pyproject.toml

@@ -19,3 +19,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-sam2 = "dora_sam2.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-ugv/pyproject.toml

@@ -15,3 +15,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-ugv = "dora_ugv.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-vad/pyproject.toml

@@ -15,3 +15,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-vad = "dora_vad.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/dora-yolo/pyproject.toml

@@ -17,3 +17,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-yolo = "dora_yolo.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/llama-factory-recorder/pyproject.toml

@@ -21,3 +21,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 llama-factory-recorder = "llama_factory_recorder.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/opencv-plot/pyproject.toml

@@ -17,3 +17,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 opencv-plot = "opencv_plot.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/opencv-video-capture/pyproject.toml

@@ -17,3 +17,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 opencv-video-capture = "opencv_video_capture.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/pyarrow-assert/pyproject.toml

@@ -18,3 +18,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 pyarrow-assert = "pyarrow_assert.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/pyarrow-sender/pyproject.toml

@@ -19,3 +19,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 pyarrow-sender = "pyarrow_sender.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]

node-hub/terminal-input/pyproject.toml

@@ -19,3 +19,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 terminal-input = "terminal_input.main:main"
+
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+]