[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

src/jdrones/energy_model.py

@@ -5,7 +5,6 @@
 
 import numpy as np
 import numpy.typing as npt
-
 from jdrones.data_models import URDFModel
 from jdrones.envs.dronemodels import DronePlus
 
@@ -188,9 +187,9 @@ def p_induced(self, v: npt.ArrayLike):
     def power(self, v: npt.ArrayLike):
         """
         Total power required at the system velocity
-        
+
         .. math::
-        
+
             P_{total} = P_{blade} + P_{parasite} + P_{induced}
 
 

src/jdrones/wrappers.py

@@ -1,14 +1,13 @@
-from typing import SupportsFloat, Any
+from typing import Any
+from typing import SupportsFloat
 
 import gymnasium
 import numpy as np
-from gymnasium.core import WrapperActType, WrapperObsType
-
+from gymnasium.core import WrapperActType
+from gymnasium.core import WrapperObsType
+from jdrones.energy_model import BaseEnergyModel
+from jdrones.energy_model import StaticPropellerVariableVelocityEnergyModel
 from jdrones.envs.base.basedronenev import BaseDroneEnv
-from jdrones.energy_model import (
-    StaticPropellerVariableVelocityEnergyModel,
-    BaseEnergyModel,
-)
 
 
 class EnergyCalculationWrapper(gymnasium.Wrapper):
@@ -29,8 +28,9 @@ def __init__(
         elif hasattr(self.env, "env"):
             model = self.env.env.model
         else:
-            raise ValueError("Could not find model information within the wrapped "
-                             "environment")
+            raise ValueError(
+                "Could not find model information within the wrapped " "environment"
+            )
         self.energy_calculation = energy_model(env.dt, model)
 
     def step(
@@ -43,8 +43,9 @@ def step(
         elif hasattr(self.env, "env"):
             vel = self.env.env.state.vel
         else:
-            raise ValueError("Could not find velocity information within the wrapped "
-                             "environment")
+            raise ValueError(
+                "Could not find velocity information within the wrapped " "environment"
+            )
         speed = np.linalg.norm(vel)
         info["energy"] = self.energy_calculation.energy(speed)
 

tests/conftest.py

@@ -83,12 +83,12 @@ def tau_Q(request):
 def drag_coeffs(request):
     return request.param
 
+
 @pytest.fixture(params=[1.225])
 def rho(request):
     return request.param
 
 
-
 @pytest.fixture(params=["droneplus.urdf"])
 def filepath(request):
     root = pathlib.Path("src")
@@ -167,7 +167,7 @@ def urdfmodel(
     tau_Q,
     drag_coeffs,
     mass,
-        rho,
+    rho,
     filepath,
     mixing_matrix,
 ):
@@ -184,7 +184,7 @@ def urdfmodel(
         filepath=str(filepath),
         mixing_matrix=mixing_matrix,
         max_vel_ms=1,
-        rho=rho
+        rho=rho,
     )
 
 

tests/envs/position/test_stress.py

@@ -1,7 +1,6 @@
 #  Copyright 2023 Jan-Hendrik Ewers
 #  SPDX-License-Identifier: GPL-3.0-only
 import pytest
-
 from jdrones.wrappers import EnergyCalculationWrapper
 
 
@@ -32,6 +31,7 @@ def run(T, dt, env):
 )
 T_PARAM = pytest.mark.parametrize("T", [2, 10, 100])
 
+
 @pytest.mark.slow_integration
 @AS_PARAM
 @T_PARAM
@@ -52,10 +52,11 @@ def test_long_poly_position(T, dt, fifthorderpolypositiondroneenv):
 def test_long_lookahead_position(T, dt, fifthorderpolypositionlookaheaddroneenv):
     run(T, dt, fifthorderpolypositionlookaheaddroneenv)
 
+
 @pytest.mark.slow_integration
 @AS_PARAM
 @pytest.mark.parametrize("T", [2])
-@pytest.mark.parametrize("wrapper",[EnergyCalculationWrapper])
+@pytest.mark.parametrize("wrapper", [EnergyCalculationWrapper])
 def test_wrappers(T, dt, wrapper, firstorderploypositiondroneenv):
     env = wrapper(firstorderploypositiondroneenv)
     run(T, dt, env)

tests/test_energy_model.py

@@ -1,10 +1,7 @@
 import numpy as np
 import pytest
-
-from jdrones.energy_model import (
-    BaseEnergyModel,
-    StaticPropellerVariableVelocityEnergyModel,
-)
+from jdrones.energy_model import BaseEnergyModel
+from jdrones.energy_model import StaticPropellerVariableVelocityEnergyModel
 
 
 @pytest.fixture

tests/test_wrappers.py

@@ -1,7 +1,6 @@
 import gymnasium
 import numpy as np
 import pytest
-
 from jdrones.envs import DronePlus
 from jdrones.envs.base.basedronenev import BaseDroneEnv
 from jdrones.wrappers import EnergyCalculationWrapper