Applied pyupgrade style

apis/python/node/dora/__init__.pyi

@@ -124,7 +124,7 @@ class Ros2Context:
     ```
     """
 
-    def __init__(self, ros_paths: typing.List[str]=None) -> None:
+    def __init__(self, ros_paths: list[str]=None) -> None:
         """ROS2 Context holding all messages definition for receiving and sending messages to ROS2.
 
         By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition.

apis/python/node/pyproject.toml

@@ -20,4 +20,5 @@ features = ["pyo3/extension-module"]
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP"
 ]

binaries/cli/pyproject.toml

@@ -16,4 +16,5 @@ features = ["python", "pyo3/extension-module"]
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP"
 ]

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

@@ -17,5 +17,6 @@ __node-name__ = "__node_name__.main:main"
 
 [tool.ruff.lint]
 extend-select = [
-  "D",
+  "D",   # pydocstyle
+  "UP"
 ]

examples/python-operator-dataflow/webcam.py

@@ -44,7 +44,7 @@ class Operator:
                 frame = np.zeros((CAMERA_HEIGHT, CAMERA_WIDTH, 3), dtype=np.uint8)
                 cv2.putText(
                     frame,
-                    "No Webcam was found at index %d" % (CAMERA_INDEX),
+                    f"No Webcam was found at index {CAMERA_INDEX}",
                     (30, 30),
                     font,
                     0.75,

node-hub/dora-argotranslate/pyproject.toml

@@ -22,4 +22,5 @@ dora-argotranslate = "dora_argotranslate.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -21,7 +21,6 @@ dependencies = [
   "mlx-whisper >= 0.4.1; sys_platform == 'darwin'",
 ]
 
-
 [dependency-groups]
 dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
@@ -31,4 +30,5 @@ dora-distil-whisper = "dora_distil_whisper.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D", # pydocstyle
+  "UP",
 ]

node-hub/dora-echo/pyproject.toml

@@ -21,4 +21,5 @@ dora-echo = "dora_echo.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP"
 ]

node-hub/dora-internvl/pyproject.toml

@@ -34,4 +34,5 @@ dora-internvl = "dora_internvl.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -18,4 +18,5 @@ dora-ios-lidar = "dora_ios_lidar.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-keyboard/pyproject.toml

@@ -27,4 +27,5 @@ dora-keyboard = "dora_keyboard.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -19,4 +19,5 @@ features = ["python", "pyo3/extension-module"]
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -18,4 +18,5 @@ dora-kokoro-tts = "dora_kokoro_tts.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-llama-cpp-python/dora_llama_cpp_python/__init__.py

@@ -1,3 +1,5 @@
+"""TODO: Add docstring."""
+
 import os
 
 # Define the path to the README file relative to the package directory
@@ -5,7 +7,7 @@ readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.m
 
 # Read the content of the README file
 try:
-    with open(readme_path, "r", encoding="utf-8") as f:
+    with open(readme_path, encoding="utf-8") as f:
         __doc__ = f.read()
 except FileNotFoundError:
     __doc__ = "README file not found."

node-hub/dora-llama-cpp-python/dora_llama_cpp_python/__main__.py

@@ -1,3 +1,5 @@
+"""TODO: Add docstring."""
+
 from .main import main
 
 

node-hub/dora-llama-cpp-python/dora_llama_cpp_python/main.py

@@ -1,3 +1,5 @@
+"""TODO: Add docstring."""
+
 import os
 import pyarrow as pa
 from dora import Node
@@ -59,6 +61,7 @@ ACTIVATION_WORDS = os.getenv("ACTIVATION_WORDS", "what how who where you").split
 
 
 def main():
+    """TODO: Add docstring."""
     # Initialize model
     model = get_model()
     node = Node()

node-hub/dora-llama-cpp-python/pyproject.toml

@@ -39,3 +39,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-llama-cpp-python = "dora_llama_cpp_python.main:main"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/dora-llama-cpp-python/tests/test_dora_llama_cpp_python.py

@@ -1,7 +1,10 @@
+"""TODO: Add docstring."""
+
 import pytest
 
 
 def test_import_main():
+    """TODO: Add docstring."""
     from dora_llama_cpp_python.main import main
 
     # Check that everything is working, and catch dora Runtime Exception as we're not running in a dora dataflow.

node-hub/dora-magma/pyproject.toml

@@ -43,4 +43,5 @@ extend.exclude = "dora_magma/Magma"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-microphone/pyproject.toml

@@ -27,4 +27,5 @@ dora-microphone = "dora_microphone.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -18,4 +18,5 @@ features = ["python", "pyo3/extension-module"]
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -28,5 +28,8 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 dora-openai-server = "dora_openai_server.main:main"
 
 [tool.ruff.lint]
-extend-select = ["I","D"]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]
 

node-hub/dora-opus/pyproject.toml

@@ -31,4 +31,5 @@ dora-opus = "dora_opus.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-outtetts/pyproject.toml

@@ -31,4 +31,5 @@ dora-outtetts = "dora_outtetts.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-parler/pyproject.toml

@@ -33,4 +33,5 @@ dora-parler = "dora_parler.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-phi4/dora_phi4/__init__.py

@@ -1,3 +1,5 @@
+"""TODO: Add docstring."""
+
 import os
 
 # Define the path to the README file relative to the package directory

node-hub/dora-phi4/dora_phi4/__main__.py

@@ -1,3 +1,5 @@
+"""TODO: Add docstring."""
+
 from .main import main
 
 if __name__ == "__main__":

node-hub/dora-phi4/dora_phi4/main.py

@@ -1,3 +1,5 @@
+"""TODO: Add docstring."""
+
 import pyarrow as pa
 import torch
 from accelerate import infer_auto_device_map
@@ -56,6 +58,7 @@ prompt_suffix = "<|end|>"
 
 
 def main():
+    """TODO: Add docstring."""
     node = Node()
 
     for event in node:

node-hub/dora-phi4/pyproject.toml

@@ -30,3 +30,9 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-phi4 = "dora_phi4.main:main"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/dora-phi4/tests/test_dora_phi4.py

@@ -1,7 +1,10 @@
+"""TODO: Add docstring."""
+
 import pytest
 
 
 def test_import_main():
+    """TODO: Add docstring."""
     from dora_phi4.main import main
 
     # Check that everything is working, and catch dora Runtime Exception as we're not running in a dora dataflow.

node-hub/dora-piper/pyproject.toml

@@ -18,4 +18,5 @@ dora-piper = "dora_piper.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-pyaudio/pyproject.toml

@@ -23,4 +23,5 @@ dora-pyaudio = "dora_pyaudio.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-pyorbbecksdk/pyproject.toml

@@ -12,7 +12,6 @@ requires-python = ">=3.8"
 
 dependencies = ["dora-rs >= 0.3.9", "numpy < 2.0.0", "opencv-python >= 4.1.1"]
 
-
 [dependency-groups]
 dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
@@ -22,4 +21,5 @@ dora-pyorbbecksdk = "dora_pyorbbecksdk.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-pyrealsense/pyproject.toml

@@ -24,4 +24,5 @@ dora-pyrealsense = "dora_pyrealsense.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-qwen/pyproject.toml

@@ -45,4 +45,5 @@ dora-qwen = "dora_qwen.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -35,7 +35,6 @@ dependencies = [
 # [tool.uv]
 # no-build-isolation-package = ['flash-attn']
 
-
 [dependency-groups]
 dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
@@ -52,4 +51,5 @@ build-backend = "setuptools.build_meta"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-qwenvl/pyproject.toml

@@ -26,7 +26,6 @@ dependencies = [
 
 # flash_attn = "^2.6.1" # Install using: pip install -U flash-attn --no-build-isolation
 
-
 [dependency-groups]
 dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
@@ -39,4 +38,5 @@ dora-qwenvl = "dora_qwenvl.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -29,18 +29,15 @@ dependencies = [
 
 # flash_attn = "^2.6.1" # Install using: pip install -U flash-attn --no-build-isolation
 
-
 [tool.black]
 extend-exclude = 'dora_rdt_1b/RoboticsDiffusionTransformer'
 
-
 [dependency-groups]
 dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 dora-rdt-1b = "dora_rdt_1b.main:main"
 
-
 [tool.ruff]
 exclude = ["dora_rdt_1b/RoboticsDiffusionTransformer"]
 
@@ -51,4 +48,5 @@ build-backend = "poetry.core.masonry.api"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-reachy1/dora_reachy1/main.py

@@ -1,3 +1,4 @@
+"""TODO: Add docstring."""
 import os
 import time
 
@@ -8,6 +9,7 @@ from reachy_sdk.trajectory import goto
 
 
 def r_arm_inverse_kinematics(reachy, pose, action) -> list:
+    """TODO: Add docstring."""
     A = np.array(
         [
             [0, 0, -1, pose[0] + action[0]],
@@ -20,6 +22,7 @@ def r_arm_inverse_kinematics(reachy, pose, action) -> list:
 
 
 def happy_antennas(reachy):
+    """TODO: Add docstring."""
     reachy.head.l_antenna.speed_limit = 480.0
     reachy.head.r_antenna.speed_limit = 480.0
 
@@ -39,6 +42,7 @@ def happy_antennas(reachy):
 
 
 def sad_antennas(reachy):
+    """TODO: Add docstring."""
     reachy.head.l_antenna.speed_limit = 360.0
     reachy.head.r_antenna.speed_limit = 360.0
 
@@ -47,6 +51,7 @@ def sad_antennas(reachy):
 
 
 def main():
+    """TODO: Add docstring."""
     node = Node()
 
     ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.24")

node-hub/dora-reachy1/dora_reachy1_vision/main.py

@@ -1,3 +1,5 @@
+"""TODO: Add docstring."""
+
 from reachy_sdk import ReachySDK
 import os
 from dora import Node
@@ -5,7 +7,7 @@ import pyarrow as pa
 
 
 def main():
-
+    """TODO: Add docstring."""
     node = Node()
 
     ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.24")

node-hub/dora-reachy1/pyproject.toml

@@ -26,3 +26,9 @@ dora-reachy1-vision = "dora_reachy1_vision.main:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/dora-reachy1/tests/test_dora_reachy1.py

@@ -1,7 +1,10 @@
+"""TODO: Add docstring."""
+
 # import pytest
 
 
 def test_pass():
+    """TODO: Add docstring."""
     pass
 
 

node-hub/dora-reachy1/tests/test_dora_reachy1_vision.py

@@ -1,7 +1,10 @@
+"""TODO: Add docstring."""
+
 import pytest
 
 
 def test_import_main():
+    """TODO: Add docstring."""
     from dora_reachy1_vision.main import main
 
     # Check that everything is working, and catch dora Runtime Exception as we're not running in a dora dataflow.

node-hub/dora-reachy2/pyproject.toml

@@ -24,8 +24,8 @@ 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
+  "UP",
 ]

node-hub/dora-rerun/pyproject.toml

@@ -22,4 +22,5 @@ features = ["python", "pyo3/extension-module"]
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-sam2/pyproject.toml

@@ -23,4 +23,5 @@ dora-sam2 = "dora_sam2.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-ugv/pyproject.toml

@@ -9,7 +9,6 @@ requires-python = ">=3.8"
 
 dependencies = ["dora-rs >= 0.3.9"]
 
-
 [dependency-groups]
 dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
@@ -19,4 +18,5 @@ dora-ugv = "dora_ugv.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-vad/pyproject.toml

@@ -9,7 +9,6 @@ requires-python = ">=3.8"
 
 dependencies = ["dora-rs >= 0.3.9", "numpy < 2.0.0", "silero-vad >= 5.1"]
 
-
 [dependency-groups]
 dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
@@ -19,4 +18,5 @@ dora-vad = "dora_vad.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dora-yolo/pyproject.toml

@@ -21,4 +21,5 @@ dora-yolo = "dora_yolo.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/dynamixel-client/dynamixel_client/__init__.py

@@ -0,0 +1 @@
+"""TODO: Add docstring."""

node-hub/dynamixel-client/dynamixel_client/bus.py

@@ -1,3 +1,5 @@
+"""TODO: Add docstring."""
+
 import enum
 
 import pyarrow as pa
@@ -22,8 +24,7 @@ def wrap_joints_and_values(
     joints: Union[list[str], pa.Array],
     values: Union[int, list[int], pa.Array],
 ) -> pa.StructArray:
-    """
-    Wraps joints and their corresponding values into a structured array.
+    """Wrap joints and their corresponding values into a structured array.
 
     :param joints: A list, numpy array, or pyarrow array of joint names.
     :type joints: Union[list[str], np.array, pa.Array]
@@ -39,7 +40,7 @@ def wrap_joints_and_values(
     :raises ValueError: If lengths of joints and values do not match.
 
     Example:
-    --------
+    -------
     joints = ["shoulder_pan", "shoulder_lift", "elbow_flex"]
     values = [100, 200, 300]
     struct_array = wrap_joints_and_values(joints, values)
@@ -52,8 +53,8 @@ def wrap_joints_and_values(
     struct_array = wrap_joints_and_values(joints, value)
 
     This example broadcasts the single integer value to all joints and wraps them into a structured array.
-    """
 
+    """
     if isinstance(values, int):
         values = [values] * len(joints)
 
@@ -74,11 +75,15 @@ def wrap_joints_and_values(
 
 
 class TorqueMode(enum.Enum):
+    """TODO: Add docstring."""
+
     ENABLED = pa.scalar(1, pa.uint32())
     DISABLED = pa.scalar(0, pa.uint32())
 
 
 class OperatingMode(enum.Enum):
+    """TODO: Add docstring."""
+
     VELOCITY = pa.scalar(1, pa.uint32())
     POSITION = pa.scalar(3, pa.uint32())
     EXTENDED_POSITION = pa.scalar(4, pa.uint32())
@@ -152,8 +157,10 @@ MODEL_CONTROL_TABLE = {
 
 
 class DynamixelBus:
+    """TODO: Add docstring."""
 
     def __init__(self, port: str, description: dict[str, (int, str)]):
+        """TODO: Add docstring."""
         self.port = port
         self.descriptions = description
         self.motor_ctrl = {}
@@ -184,9 +191,11 @@ class DynamixelBus:
         self.group_writers = {}
 
     def close(self):
+        """TODO: Add docstring."""
         self.port_handler.closePort()
 
     def write(self, data_name: str, data: pa.StructArray):
+        """TODO: Add docstring."""
         motor_ids = [
             self.motor_ctrl[motor_name.as_py()]["id"]
             for motor_name in data.field("joints")
@@ -255,6 +264,7 @@ class DynamixelBus:
             )
 
     def read(self, data_name: str, motor_names: pa.Array) -> pa.StructArray:
+        """TODO: Add docstring."""
         motor_ids = [
             self.motor_ctrl[motor_name.as_py()]["id"] for motor_name in motor_names
         ]
@@ -298,31 +308,41 @@ class DynamixelBus:
         return wrap_joints_and_values(motor_names, values)
 
     def write_torque_enable(self, torque_mode: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Torque_Enable", torque_mode)
 
     def write_operating_mode(self, operating_mode: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Operating_Mode", operating_mode)
 
     def read_position(self, motor_names: pa.Array) -> pa.StructArray:
+        """TODO: Add docstring."""
         return self.read("Present_Position", motor_names)
 
     def read_velocity(self, motor_names: pa.Array) -> pa.StructArray:
+        """TODO: Add docstring."""
         return self.read("Present_Velocity", motor_names)
 
     def read_current(self, motor_names: pa.Array) -> pa.StructArray:
+        """TODO: Add docstring."""
         return self.read("Present_Current", motor_names)
 
     def write_goal_position(self, goal_position: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Goal_Position", goal_position)
 
     def write_goal_current(self, goal_current: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Goal_Current", goal_current)
 
     def write_position_p_gain(self, position_p_gain: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Position_P_Gain", position_p_gain)
 
     def write_position_i_gain(self, position_i_gain: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Position_I_Gain", position_i_gain)
 
     def write_position_d_gain(self, position_d_gain: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Position_D_Gain", position_d_gain)

node-hub/dynamixel-client/dynamixel_client/main.py

@@ -1,6 +1,6 @@
-"""
-Dynamixel Client: This node is used to represent a chain of dynamixel motors. It can be used to read positions,
-velocities, currents, and set goal positions and currents.
+"""Dynamixel Client: This node is used to represent a chain of dynamixel motors.
+
+It can be used to read positions, velocities, currents, and set goal positions and currents.
 """
 
 import os
@@ -16,8 +16,10 @@ from .bus import DynamixelBus, TorqueMode, wrap_joints_and_values
 
 
 class Client:
+    """TODO: Add docstring."""
 
     def __init__(self, config: dict[str, any]):
+        """TODO: Add docstring."""
         self.config = config
 
         description = {}
@@ -45,6 +47,7 @@ class Client:
         self.node = Node(config["name"])
 
     def run(self):
+        """TODO: Add docstring."""
         for event in self.node:
             event_type = event["type"]
 
@@ -68,6 +71,7 @@ class Client:
                 raise ValueError("An error occurred in the dataflow: " + event["error"])
 
     def close(self):
+        """TODO: Add docstring."""
         self.bus.write_torque_enable(
             wrap_joints_and_values(
                 self.config["joints"],
@@ -76,6 +80,7 @@ class Client:
         )
 
     def pull_position(self, node, metadata):
+        """TODO: Add docstring."""
         try:
             node.send_output(
                 "position",
@@ -87,6 +92,7 @@ class Client:
             print("Error reading position:", e)
 
     def pull_velocity(self, node, metadata):
+        """TODO: Add docstring."""
         try:
             node.send_output(
                 "velocity",
@@ -97,6 +103,7 @@ class Client:
             print("Error reading velocity:", e)
 
     def pull_current(self, node, metadata):
+        """TODO: Add docstring."""
         try:
             node.send_output(
                 "current",
@@ -107,12 +114,14 @@ class Client:
             print("Error reading current:", e)
 
     def write_goal_position(self, goal_position: pa.StructArray):
+        """TODO: Add docstring."""
         try:
             self.bus.write_goal_position(goal_position)
         except ConnectionError as e:
             print("Error writing goal position:", e)
 
     def write_goal_current(self, goal_current: pa.StructArray):
+        """TODO: Add docstring."""
         try:
             self.bus.write_goal_current(goal_current)
         except ConnectionError as e:
@@ -120,7 +129,7 @@ class Client:
 
 
 def main():
-    # Handle dynamic nodes, ask for the name of the node in the dataflow
+    """Handle dynamic nodes, ask for the name of the node in the dataflow."""
     parser = argparse.ArgumentParser(
         description="Dynamixel Client: This node is used to represent a chain of dynamixel motors. It can be used to "
         "read positions, velocities, currents, and set goal positions and currents."

node-hub/dynamixel-client/pyproject.toml

@@ -21,3 +21,9 @@ dynamixel-client = "dynamixel_client.main:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/dynamixel-client/tests/test_dynamixel_client.py

@@ -1,7 +1,9 @@
+"""TODO: Add docstring."""
 # import pytest
 
 
 def test_pass():
+    """TODO: Add docstring."""
     pass
 
 

node-hub/feetech-client/feetech_client/__init__.py

@@ -0,0 +1 @@
+"""TODO: Add docstring."""

node-hub/feetech-client/feetech_client/bus.py

@@ -1,3 +1,4 @@
+"""TODO: Add docstring."""
 import enum
 from typing import Union
 
@@ -24,6 +25,7 @@ def wrap_joints_and_values(
     joints: Union[list[str], pa.Array],
     values: Union[list[int], pa.Array],
 ) -> pa.StructArray:
+    """TODO: Add docstring."""
     return pa.StructArray.from_arrays(
         arrays=[joints, values],
         names=["joints", "values"],
@@ -31,11 +33,15 @@ def wrap_joints_and_values(
 
 
 class TorqueMode(enum.Enum):
+    """TODO: Add docstring."""
+
     ENABLED = pa.scalar(1, pa.uint32())
     DISABLED = pa.scalar(0, pa.uint32())
 
 
 class OperatingMode(enum.Enum):
+    """TODO: Add docstring."""
+
     ONE_TURN = pa.scalar(0, pa.uint32())
 
 
@@ -93,15 +99,16 @@ MODEL_CONTROL_TABLE = {
 
 
 class FeetechBus:
+    """TODO: Add docstring."""
 
     def __init__(self, port: str, description: dict[str, (np.uint8, str)]):
-        """
-        Args:
-            port: the serial port to connect to the Feetech bus
-            description: a dictionary containing the description of the motors connected to the bus. The keys are the
-            motor names and the values are tuples containing the motor id and the motor model.
-        """
+        """Args:-.
+
+        port: the serial port to connect to the Feetech bus
+        description: a dictionary containing the description of the motors connected to the bus. The keys are the
+        motor names and the values are tuples containing the motor id and the motor model.
 
+        """
         self.port = port
         self.descriptions = description
         self.motor_ctrl = {}
@@ -132,9 +139,11 @@ class FeetechBus:
         self.group_writers = {}
 
     def close(self):
+        """TODO: Add docstring."""
         self.port_handler.closePort()
 
     def write(self, data_name: str, data: pa.StructArray):
+        """TODO: Add docstring."""
         motor_ids = [
             self.motor_ctrl[motor_name.as_py()]["id"]
             for motor_name in data.field("joints")
@@ -201,6 +210,7 @@ class FeetechBus:
             )
 
     def read(self, data_name: str, motor_names: pa.Array) -> pa.StructArray:
+        """TODO: Add docstring."""
         motor_ids = [
             self.motor_ctrl[motor_name.as_py()]["id"] for motor_name in motor_names
         ]
@@ -251,25 +261,33 @@ class FeetechBus:
         return wrap_joints_and_values(motor_names, values)
 
     def write_torque_enable(self, torque_mode: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Torque_Enable", torque_mode)
 
     def write_operating_mode(self, operating_mode: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Mode", operating_mode)
 
     def read_position(self, motor_names: pa.Array) -> pa.StructArray:
+        """TODO: Add docstring."""
         return self.read("Present_Position", motor_names)
 
     def read_velocity(self, motor_names: pa.Array) -> pa.StructArray:
+        """TODO: Add docstring."""
         return self.read("Present_Velocity", motor_names)
 
     def read_current(self, motor_names: pa.Array) -> pa.StructArray:
+        """TODO: Add docstring."""
         return self.read("Present_Current", motor_names)
 
     def write_goal_position(self, goal_position: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Goal_Position", goal_position)
 
     def write_max_angle_limit(self, max_angle_limit: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Max_Angle_Limit", max_angle_limit)
 
     def write_min_angle_limit(self, min_angle_limit: pa.StructArray):
+        """TODO: Add docstring."""
         self.write("Min_Angle_Limit", min_angle_limit)

node-hub/feetech-client/feetech_client/main.py

@@ -1,7 +1,4 @@
-"""
-Feetech Client: This node is used to represent a chain of feetech motors. It can be used to read positions,
-velocities, currents, and set goal positions and currents.
-"""
+"""Feetech Client: This node is used to represent a chain of feetech motors. It can be used to read positions, velocities, currents, and set goal positions and currents."""
 
 import os
 import argparse
@@ -15,8 +12,10 @@ from .bus import FeetechBus, TorqueMode, wrap_joints_and_values
 
 
 class Client:
+    """TODO: Add docstring."""
 
     def __init__(self, config: dict[str, any]):
+        """TODO: Add docstring."""
         self.config = config
 
         description = {}
@@ -34,6 +33,7 @@ class Client:
         self.node = Node(config["name"])
 
     def run(self):
+        """TODO: Add docstring."""
         for event in self.node:
             event_type = event["type"]
 
@@ -55,6 +55,7 @@ class Client:
                 raise ValueError("An error occurred in the dataflow: " + event["error"])
 
     def close(self):
+        """TODO: Add docstring."""
         self.bus.write_torque_enable(
             wrap_joints_and_values(
                 self.config["joints"],
@@ -63,6 +64,7 @@ class Client:
         )
 
     def pull_position(self, node, metadata):
+        """TODO: Add docstring."""
         try:
             node.send_output(
                 "position",
@@ -74,6 +76,7 @@ class Client:
             print("Error reading position:", e)
 
     def pull_velocity(self, node, metadata):
+        """TODO: Add docstring."""
         try:
             node.send_output(
                 "velocity",
@@ -84,6 +87,7 @@ class Client:
             print("Error reading velocity:", e)
 
     def pull_current(self, node, metadata):
+        """TODO: Add docstring."""
         try:
             node.send_output(
                 "current",
@@ -94,6 +98,7 @@ class Client:
             print("Error reading current:", e)
 
     def write_goal_position(self, goal_position: pa.StructArray):
+        """TODO: Add docstring."""
         try:
             self.bus.write_goal_position(goal_position)
         except ConnectionError as e:
@@ -101,7 +106,7 @@ class Client:
 
 
 def main():
-    # Handle dynamic nodes, ask for the name of the node in the dataflow
+    """Handle dynamic nodes, ask for the name of the node in the dataflow."""
     parser = argparse.ArgumentParser(
         description="Feetech Client: This node is used to represent a chain of feetech motors. "
         "It can be used to read "

node-hub/feetech-client/pyproject.toml

@@ -7,7 +7,6 @@ license = { text = "MIT" }
 readme = "README.md"
 requires-python = ">=3.9"
 
-
 dependencies = [
 "dora-rs == 0.3.5",
 "numpy <=  2.0.0",
@@ -23,3 +22,9 @@ feetech-client = "feetech_client.main:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/feetech-client/tests/test_feetech_client.py

@@ -1,7 +1,9 @@
+"""TODO: Add docstring."""
 # import pytest
 
 
 def test_pass():
+    """TODO: Add docstring."""
     pass
 
 

node-hub/lebai-client/lebai_client/main.py

@@ -1,3 +1,4 @@
+"""TODO: Add docstring."""
 import lebai_sdk
 import numpy as np
 from dora import Node
@@ -9,7 +10,7 @@ import time
 def load_json_file(file_path):
     """Load JSON file and return the dictionary."""
     if os.path.exists(file_path):
-        with open(file_path, "r") as file:
+        with open(file_path) as file:
             data = json.load(file)
     else:
         # Return an empty dictionary if file does not exist
@@ -32,6 +33,7 @@ ROBOT_IP = os.getenv(
 
 
 def main():
+    """TODO: Add docstring."""
     # Load the JSON file
     pose_library = load_json_file(SAVED_POSE_PATH)
     lebai = lebai_sdk.connect(ROBOT_IP, False)  # 创建实例

node-hub/lebai-client/pyproject.toml

@@ -21,3 +21,9 @@ lebai-client = "lebai_client.main:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/lebai-client/test/test.py

@@ -1,3 +1,4 @@
+"""TODO: Add docstring."""
 import lebai_sdk
 
 
@@ -5,6 +6,7 @@ lebai_sdk.init()
 
 
 def main():
+    """TODO: Add docstring."""
     # print(lebai_sdk.discover_devices(2)) #发现同一局域网内的机器人
 
     robot_ip = "10.20.17.1"  # 设定机器人ip地址，需要根据机器人实际ip地址修改

node-hub/lebai-client/tests/test_lebai_client.py

@@ -1,7 +1,9 @@
+"""TODO: Add docstring."""
 # import pytest
 
 
 def test_pass():
+    """TODO: Add docstring."""
     pass
 
 

node-hub/lerobot-dashboard/lerobot_dashboard/__init__.py

@@ -0,0 +1 @@
+"""TODO: Add docstring."""

node-hub/lerobot-dashboard/lerobot_dashboard/main.py

@@ -1,6 +1,4 @@
-"""
-This Dora node is a minimalistic interface that shows two images and text in a Pygame window.
-"""
+"""Following Dora node is a minimalistic interface that shows two images and text in a Pygame window."""
 
 import os
 import argparse
@@ -13,7 +11,7 @@ from dora import Node
 
 
 def main():
-    # Handle dynamic nodes, ask for the name of the node in the dataflow
+    """Handle dynamic nodes, ask for the name of the node in the dataflow."""
     parser = argparse.ArgumentParser(
         description="LeRobot Record: This node is used to record episodes of a robot interacting with the environment."
     )

node-hub/lerobot-dashboard/pyproject.toml

@@ -23,3 +23,9 @@ lerobot-dashboard = "lerobot_dashboard.main:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/lerobot-dashboard/tests/test_lerobot_dashboard.py

@@ -1,7 +1,9 @@
+"""TODO: Add docstring."""
 # import pytest
 
 
 def test_pass():
+    """TODO: Add docstring."""
     pass
 
 

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

@@ -7,7 +7,6 @@ authors = [
 ]
 description = "Dora Node for VLM"
 
-
 requires-python = ">=3.8"
 
 dependencies = [
@@ -25,4 +24,5 @@ llama-factory-recorder = "llama_factory_recorder.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/mujoco-client/mujoco_client/__init__.py

@@ -0,0 +1 @@
+"""TODO: Add docstring."""

node-hub/mujoco-client/mujoco_client/main.py

@@ -1,7 +1,4 @@
-"""
-Mujoco Client: This node is used to represent simulated robot, it can be used to read virtual positions,
-or can be controlled
-"""
+"""Mujoco Client: This node is used to represent simulated robot, it can be used to read virtual positions, or can be controlled."""
 
 import os
 import argparse
@@ -17,8 +14,10 @@ import mujoco.viewer
 
 
 class Client:
+    """TODO: Add docstring."""
 
     def __init__(self, config: dict[str, any]):
+        """TODO: Add docstring."""
         self.config = config
 
         self.m = mujoco.MjModel.from_xml_path(filename=config["scene"])
@@ -27,6 +26,7 @@ class Client:
         self.node = Node(config["name"])
 
     def run(self):
+        """TODO: Add docstring."""
         with mujoco.viewer.launch_passive(self.m, self.data) as viewer:
             for event in self.node:
                 event_type = event["type"]
@@ -72,15 +72,19 @@ class Client:
             self.node.send_output("end", pa.array([]))
 
     def pull_position(self, node, metadata):
+        """TODO: Add docstring."""
         pass
 
     def pull_velocity(self, node, metadata):
+        """TODO: Add docstring."""
         pass
 
     def pull_current(self, node, metadata):
+        """TODO: Add docstring."""
         pass
 
     def write_goal_position(self, goal_position_with_joints):
+        """TODO: Add docstring."""
         joints = goal_position_with_joints.field("joints")
         goal_position = goal_position_with_joints.field("values")
 
@@ -89,7 +93,7 @@ class Client:
 
 
 def main():
-    # Handle dynamic nodes, ask for the name of the node in the dataflow
+    """Handle dynamic nodes, ask for the name of the node in the dataflow."""
     parser = argparse.ArgumentParser(
         description="MujoCo Client: This node is used to represent a MuJoCo simulation. It can be used instead of a "
         "follower arm to test the dataflow."

node-hub/mujoco-client/pyproject.toml

@@ -22,3 +22,9 @@ mujoco-client = "mujoco_client.main:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/mujoco-client/tests/test_mujoco_client.py

@@ -1,7 +1,9 @@
+"""TODO: Add docstring."""
 # import pytest
 
 
 def test_pass():
+    """TODO: Add docstring."""
     pass
 
 

node-hub/opencv-plot/pyproject.toml

@@ -7,7 +7,6 @@ authors = [
 ]
 description = "Dora Node for plotting text and bbox on image with OpenCV"
 
-
 requires-python = ">=3.8"
 
 dependencies = ["dora-rs >= 0.3.9", "numpy < 2.0.0", "opencv-python >= 4.1.1"]
@@ -21,4 +20,5 @@ opencv-plot = "opencv_plot.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

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

@@ -21,4 +21,5 @@ opencv-video-capture = "opencv_video_capture.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/pyarrow-assert/pyproject.toml

@@ -22,4 +22,5 @@ pyarrow-assert = "pyarrow_assert.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/pyarrow-sender/pyproject.toml

@@ -9,7 +9,6 @@ description = "Dora pyarrow Sender"
 license = { text = "MIT" }
 readme = "README.md"
 
-
 requires-python = ">=3.8"
 
 dependencies = ["dora-rs >= 0.3.9", "numpy < 2.0.0", "pyarrow >= 5.0.0"]
@@ -23,4 +22,5 @@ pyarrow-sender = "pyarrow_sender.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/replay-client/pyproject.toml

@@ -21,3 +21,9 @@ replay-client = "replay_client.main:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/replay-client/replay_client/__init__.py

@@ -0,0 +1 @@
+"""TODO: Add docstring."""

node-hub/replay-client/replay_client/main.py

@@ -1,5 +1,5 @@
-"""
-Replay Client: This node is used to represent a leader robot and send a sequence of goals to the dataflow,
+"""Replay Client: This node is used to represent a leader robot and send a sequence of goals to the dataflow,.
+
 reading a dataset of actions and joints from a specific episode.
 """
 
@@ -13,6 +13,7 @@ from dora import Node
 
 
 def joints_values_to_arrow(joints, values):
+    """TODO: Add docstring."""
     return pa.StructArray.from_arrays(
         arrays=[joints, values],
         names=["joints", "values"],
@@ -23,8 +24,10 @@ def joints_values_to_arrow(joints, values):
 
 
 class Client:
+    """TODO: Add docstring."""
 
     def __init__(self, config: dict[str, any]):
+        """TODO: Add docstring."""
         self.config = config
 
         self.node = Node(config["name"])
@@ -39,6 +42,7 @@ class Client:
         self.frame = 0
 
     def run(self):
+        """TODO: Add docstring."""
         for event in self.node:
             event_type = event["type"]
 
@@ -57,6 +61,7 @@ class Client:
         self.node.send_output("end", pa.array([]))
 
     def pull_position(self, node, metadata) -> bool:
+        """TODO: Add docstring."""
         if self.frame >= len(self.action):
             return True
 
@@ -71,7 +76,7 @@ class Client:
 
 
 def main():
-    # Handle dynamic nodes, ask for the name of the node in the dataflow
+    """Handle dynamic nodes, ask for the name of the node in the dataflow."""
     parser = argparse.ArgumentParser(
         description="Replay Client: This node is used to replay a sequence of goals for a followee robot."
     )

node-hub/replay-client/tests/test_replay_client.py

@@ -1,7 +1,9 @@
+"""TODO: Add docstring."""
 # import pytest
 
 
 def test_pass():
+    """TODO: Add docstring."""
     pass
 
 

node-hub/terminal-input/pyproject.toml

@@ -9,7 +9,6 @@ description = "Dora terminal input"
 license = { text = "MIT" }
 readme = "README.md"
 
-
 requires-python = ">=3.8"
 
 dependencies = ["dora-rs >= 0.3.9", "numpy < 2.0.0", "pyarrow >= 5.0.0"]
@@ -23,4 +22,5 @@ terminal-input = "terminal_input.main:main"
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP",
 ]

node-hub/video-encoder/pyproject.toml

@@ -23,3 +23,9 @@ video-encoder = "video_encoder.main:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/video-encoder/tests/test_video_encoder.py

@@ -1,7 +1,9 @@
+"""TODO: Add docstring."""
 # import pytest
 
 
 def test_pass():
+    """TODO: Add docstring."""
     pass
 
 

node-hub/video-encoder/video_encoder/__init__.py

@@ -0,0 +1 @@
+"""TODO: Doc String."""

node-hub/video-encoder/video_encoder/main.py

@@ -1,3 +1,4 @@
+"""TODO : Doc String."""
 import os
 from pathlib import Path
 
@@ -12,7 +13,7 @@ from ffmpeg import FFmpeg
 
 
 def main():
-    # Handle dynamic nodes, ask for the name of the node in the dataflow
+    """Handle dynamic nodes, ask for the name of the node in the dataflow."""
     parser = argparse.ArgumentParser(
         description="Video Encoder: This node is used to record episodes of a robot interacting with the environment."
     )