chore(typing): annotate the tools, models, demo, ets and robot packages

pyproject.toml

@@ -254,94 +254,128 @@ module = [
     "roboticstoolbox.backends.PyPlot.RobotPlot",
     "roboticstoolbox.backends.PyPlot.RobotPlot2",
     "roboticstoolbox.backends.PyPlot.EllipsePlot",
-]
-disallow_untyped_defs = true
-
-# The to-do list for the typing pass.  A module is listed here because it still
-# has type errors; fix a module, delete its line, and mypy then holds it to
-# zero.  The list should only ever get shorter.  A module that is not listed
-# is checked, and must stay clean.
-[[tool.mypy.overrides]]
-module = [
-]
-ignore_errors = true
-
-[[tool.mypy.overrides]]
-module = [
-    "roboticstoolbox.bin.rtbtool",
-]
-ignore_errors = true
-
-[[tool.mypy.overrides]]
-module = [
-]
-ignore_errors = true
-
-[[tool.mypy.overrides]]
-module = [
+    "roboticstoolbox.blocks.arm",
+    "roboticstoolbox.blocks.mobile",
+    "roboticstoolbox.blocks.spatial",
+    "roboticstoolbox.blocks.uav",
+    "roboticstoolbox.blocks.quad_model",
+    "roboticstoolbox.tools.Ticker",
+    "roboticstoolbox.tools.data",
+    "roboticstoolbox.tools.jsingu",
+    "roboticstoolbox.tools.null",
+    "roboticstoolbox.tools.numerical",
+    "roboticstoolbox.tools.p_servo",
+    "roboticstoolbox.tools.params",
+    "roboticstoolbox.tools.plot",
+    "roboticstoolbox.tools.trchain",
+    "roboticstoolbox.tools.urdf.urdf",
+    "roboticstoolbox.tools.urdf.utils",
     "roboticstoolbox.demo.eigdemo",
-]
-ignore_errors = true
-
-[[tool.mypy.overrides]]
-module = [
+    "roboticstoolbox.demo.tripleangledemo",
+    "roboticstoolbox.demo.twistdemo",
+    "roboticstoolbox.bin._bintools",
+    "roboticstoolbox.bin.rtbtool",
+    "roboticstoolbox.models.DH.AL5D",
+    "roboticstoolbox.models.DH.Ball",
+    "roboticstoolbox.models.DH.Baxter",
+    "roboticstoolbox.models.DH.Cobra600",
+    "roboticstoolbox.models.DH.Coil",
+    "roboticstoolbox.models.DH.Hyper",
+    "roboticstoolbox.models.DH.Hyper3d",
+    "roboticstoolbox.models.DH.IRB140",
+    "roboticstoolbox.models.DH.Jaco",
+    "roboticstoolbox.models.DH.KR5",
+    "roboticstoolbox.models.DH.LWR4",
+    "roboticstoolbox.models.DH.Mico",
+    "roboticstoolbox.models.DH.Orion5",
+    "roboticstoolbox.models.DH.P8",
+    "roboticstoolbox.models.DH.Panda",
+    "roboticstoolbox.models.DH.Planar2",
+    "roboticstoolbox.models.DH.Planar3",
+    "roboticstoolbox.models.DH.Puma560",
+    "roboticstoolbox.models.DH.Sawyer",
+    "roboticstoolbox.models.DH.Stanford",
+    "roboticstoolbox.models.DH.TwoLink",
+    "roboticstoolbox.models.DH.UR10",
+    "roboticstoolbox.models.DH.UR3",
+    "roboticstoolbox.models.DH.UR5",
+    "roboticstoolbox.models.DH.Uprighttl",
+    "roboticstoolbox.models.ETS.GenericSeven",
+    "roboticstoolbox.models.ETS.Planar2",
+    "roboticstoolbox.models.ETS.Planar_Y",
+    "roboticstoolbox.models.URDF.AL5D",
+    "roboticstoolbox.models.URDF.Fetch",
+    "roboticstoolbox.models.URDF.Frankie",
+    "roboticstoolbox.models.URDF.FrankieOmni",
+    "roboticstoolbox.models.URDF.Jaco",
+    "roboticstoolbox.models.URDF.KinovaGen3",
+    "roboticstoolbox.models.URDF.LBR",
+    "roboticstoolbox.models.URDF.PR2",
+    "roboticstoolbox.models.URDF.Panda",
+    "roboticstoolbox.models.URDF.Puma560",
+    "roboticstoolbox.models.URDF.UR10",
+    "roboticstoolbox.models.URDF.UR3",
+    "roboticstoolbox.models.URDF.UR5",
+    "roboticstoolbox.models.URDF.URDFRobot",
+    "roboticstoolbox.models.URDF.Valkyrie",
+    "roboticstoolbox.models.URDF.YuMi",
+    "roboticstoolbox.models.URDF.px100",
+    "roboticstoolbox.models.URDF.px150",
+    "roboticstoolbox.models.URDF.rx150",
+    "roboticstoolbox.models.URDF.rx200",
+    "roboticstoolbox.models.URDF.vx300",
+    "roboticstoolbox.models.URDF.vx300s",
+    "roboticstoolbox.models.URDF.wx200",
+    "roboticstoolbox.models.URDF.wx250",
+    "roboticstoolbox.models.URDF.wx250s",
+    "roboticstoolbox.models.catalog",
     "roboticstoolbox.ets.ET",
     "roboticstoolbox.ets.ET2",
     "roboticstoolbox.ets.ETS",
     "roboticstoolbox.ets.ETS2",
     "roboticstoolbox.ets._ET",
     "roboticstoolbox.ets._ETS",
     "roboticstoolbox.ets.fknm",
-]
-ignore_errors = true
-
-[[tool.mypy.overrides]]
-module = [
-    "roboticstoolbox.mobile.ParticleFilter",
-]
-ignore_errors = true
-
-[[tool.mypy.overrides]]
-module = [
-    "roboticstoolbox.models.DH.Planar2",
     "roboticstoolbox.models.ETS.Frankie",
     "roboticstoolbox.models.ETS.Omni",
     "roboticstoolbox.models.ETS.Panda",
     "roboticstoolbox.models.ETS.Puma560",
     "roboticstoolbox.models.ETS.XYPanda",
-    "roboticstoolbox.models.URDF.URDFRobot",
-    "roboticstoolbox.models.catalog",
-]
-ignore_errors = true
-
-[[tool.mypy.overrides]]
-module = [
     "roboticstoolbox.robot.BaseRobot",
-    "roboticstoolbox.robot.DHFactor",
     "roboticstoolbox.robot.DHLink",
     "roboticstoolbox.robot.DHRobot",
     "roboticstoolbox.robot.Dynamics",
+    "roboticstoolbox.robot.ELink",
+    "roboticstoolbox.robot.ERobot",
+    "roboticstoolbox.robot.Gripper",
     "roboticstoolbox.robot.IK",
     "roboticstoolbox.robot.Link",
     "roboticstoolbox.robot.PoERobot",
     "roboticstoolbox.robot.Robot",
     "roboticstoolbox.robot.RobotKinematics",
     "roboticstoolbox.robot.RobotPlottingMPL",
+    "roboticstoolbox.robot.RobotProto",
     "roboticstoolbox.robot.frne",
+    "roboticstoolbox.robot",
+]
+disallow_untyped_defs = true
+
+# The to-do list for the typing pass.  A module is listed here because it still
+# has type errors; fix a module, delete its line, and mypy then holds it to
+# zero.  The list should only ever get shorter.  A module that is not listed
+# is checked, and must stay clean.
+[[tool.mypy.overrides]]
+module = [
+    "roboticstoolbox.mobile.ParticleFilter",
 ]
 ignore_errors = true
 
 [[tool.mypy.overrides]]
 module = [
-    "roboticstoolbox.tools.DHFactor",
-    "roboticstoolbox.tools.Ticker",
-    "roboticstoolbox.tools.data",
-    "roboticstoolbox.tools.jsingu",
-    "roboticstoolbox.tools.numerical",
     "roboticstoolbox.tools.trajectory",
-    "roboticstoolbox.tools.trchain",
     "roboticstoolbox.tools.urdf.tests.test_urdf",
-    "roboticstoolbox.tools.urdf.urdf",
+    "roboticstoolbox.tools.DHFactor",
+    "roboticstoolbox.robot.DHFactor",
 ]
 ignore_errors = true
 

src/roboticstoolbox/backends/Connector.py

@@ -16,6 +16,10 @@ class Connector(ABC):
     #: True if the backend can render EllipsePlot objects.
     supports_ellipse: bool = False
 
+    #: velocity and force ellipsoids shown by the teach pendant, set by it
+    _teach_vellipse: Any
+    _teach_fellipse: Any
+
     def __init__(self) -> None:
         super().__init__()
 
@@ -104,6 +108,19 @@ def remove(self, *args: Any, **kwargs: Any) -> Any:
 
         pass
 
+    def _add_teach_panel(
+        self, robot: Any, q: Any, handle: Any = None, block: bool = True
+    ) -> Any:
+        """
+        Add the teach pendant controls for ``robot``, if the backend supports
+        them (see ``supports_teach``).
+
+        :return: True if the backend has already blocked until dismissed
+        """
+        raise NotImplementedError(
+            f"{self.__class__.__name__} does not have a teach pendant"
+        )
+
     @abstractmethod
     def hold(self, *args: Any, **kwargs: Any) -> Any:  # pragma nocover
         """

src/roboticstoolbox/bin/rtbtool.py

@@ -9,6 +9,10 @@
     $ rtbtool myscript.py
 """
 
+from __future__ import annotations
+
+from typing import Any
+
 # import stuff
 import argparse
 import pathlib
@@ -51,7 +55,7 @@
 _OPTIONS_ENVVAR = "RTB_OPTIONS"
 
 
-def env_arguments(parser):
+def env_arguments(parser: Any) -> Any:
     """Return command-line style options from the environment.
 
     :param parser: argument parser used for error reporting
@@ -69,7 +73,7 @@
         parser.error(f"invalid {_OPTIONS_ENVVAR}: {exc}")
 
 
-def parse_arguments():
+def parse_arguments() -> Any:
     parser = argparse.ArgumentParser(
         description="Robotics Toolbox shell",
         formatter_class=LineWrapRawTextDefaultsHelpFormatter,
@@ -180,7 +184,7 @@
     ]
 
 
-def make_banner():
+def make_banner() -> Any:
     # banner template
     # https://patorjk.com/software/taag/#p=display&f=Cybermedium&t=Robotics%20Toolbox%0A
 
@@ -218,12 +222,12 @@
     return banner
 
 
-def examples_path():
+def examples_path() -> Any:
     # Repository layout: <root>/src/roboticstoolbox/bin/rtbtool.py
     return pathlib.Path(__file__).resolve().parents[3] / "examples"
 
 
-def startup():
+def startup() -> None:
     plt.ion()
 
 
@@ -271,7 +275,7 @@
     return n_passed == len(checks)
 
 
-def main():
+def main() -> None:
     args, ipython_args = parse_arguments()
 
     if args.test:
@@ -317,10 +321,11 @@
 
     # set default backend for Robot.plot
     if args.swift:
-        Robot.default_backend = "swift"
+        # an attribute that shadows the class method, see findings
+        Robot.default_backend = "swift"  # type: ignore[method-assign,assignment]
 
     # set matrix printing mode for spatialmath
-    SE3._ansimatrix = args.ansi
+    SE3._ansimatrix = args.ansi  # type: ignore[name-defined]  # from the star import
 
     # set default matplotlib backend
     if args.backend is not None:
@@ -343,10 +348,10 @@
 
     # drop into IPython
     class MyPrompt(Prompts):
-        def in_prompt_tokens(self, cli=None):
+        def in_prompt_tokens(self, cli: Any = None) -> Any:
             return [(Token.Prompt, args.prompt)]
 
-        def out_prompt_tokens(self, cli=None):
+        def out_prompt_tokens(self, cli: Any = None) -> Any:
             if args.resultprefix is None:
                 # traditional behaviour
                 return [

src/roboticstoolbox/blocks/mobile.py

@@ -187,14 +187,14 @@ class Unicycle(ContinuousBlock):
 
     def __init__(
         self,
-        w=1,
-        speed_max=np.inf,
-        accel_max=np.inf,
-        steer_max=np.inf,
+        w: float = 1,
+        speed_max: Any = np.inf,
+        accel_max: Any = np.inf,
+        steer_max: Any = np.inf,
         # a=0,  implement this, RVC2 p111, change output and deriv
-        x0=None,
-        **blockargs,
-    ):
+        x0: Any = None,
+        **blockargs: Any,
+    ) -> None:
         r"""
 
         :param w: vehicle width, defaults to 1

src/roboticstoolbox/demo/eigdemo.py

@@ -12,14 +12,18 @@
 
 """
 
+from __future__ import annotations
+
+from typing import Any
+
 import sys
 import numpy as np
 import matplotlib.pyplot as plt
 import matplotlib.animation as animation
 from math import pi, sin, cos
 
 
-def eigdemo(A):
+def eigdemo(A: Any) -> None:
 
     print("matrix A =")
     print(A)
@@ -31,7 +35,7 @@
     s = np.max(np.abs(e))
 
     fig, ax = plt.subplots()
-    plt.axis([-s, s, -s, s])
+    plt.axis((-s, s, -s, s))
     plt.grid(True)
     plt.title("Eigenvector demonstration")
     plt.xlabel("x")
@@ -51,7 +55,7 @@
 
     print("\nto exit: type q, or close the window")
 
-    def animate(theta):
+    def animate(theta: Any) -> Any:
 
         x = np.r_[cos(-theta), sin(-theta)]
         y = A @ x
@@ -76,15 +80,15 @@
     plt.show(block=True)
 
 
-def main():
+def main() -> None:
     # eigdemo() prints λ1/λ2 -- on Windows, stdout defaults to the legacy
     # cp1252 console codepage (which can't encode λ) whenever it isn't a
     # real console, e.g. piped/redirected output. reconfigure() (3.7+)
     # forces UTF-8 regardless.
     if hasattr(sys.stdout, "reconfigure"):
         sys.stdout.reconfigure(encoding="utf-8")
 
-    def help():
+    def help() -> None:
         print("eigdemo          # uses default matrix [1 2; 3 4]")
         print("eigdemo a b c d  # uses matrix [a b; c d]")
         sys.exit(0)