Added Types + Precommits

.clang-format

@@ -165,4 +165,3 @@ TabWidth: 8
 UseCRLF: false
 UseTab: Never
 ...
-

.pre-commit-config.yaml

@@ -0,0 +1,39 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-symlinks
+      - id: destroyed-symlinks
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-toml
+      - id: check-ast
+      - id: check-added-large-files
+        args: ["--maxkb=2000"]
+      - id: check-merge-conflict
+      - id: check-executables-have-shebangs
+      - id: check-shebang-scripts-are-executable
+      - id: detect-private-key
+      - id: debug-statements
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.2
+    hooks:
+      - id: codespell
+        args:
+          - --skip=*.ipynb
+          - -L ths
+  - repo: https://github.com/python/black
+    rev: 23.1.0
+    hooks:
+      - id: black
+  - repo: https://github.com/charliermarsh/ruff-pre-commit
+    # Ruff version.
+    rev: 'v0.4.10'
+    hooks:
+      - id: ruff
+        args:
+          - --fix
+          - --unsafe-fixes

README.md

@@ -1,6 +1,6 @@
 # PyTorch Robot Kinematics
 - Parallel and differentiable forward kinematics (FK), Jacobian calculation, and damped least squares inverse kinematics (IK)
-- Load robot description from URDF, SDF, and MJCF formats 
+- Load robot description from URDF, SDF, and MJCF formats
 - SDF queries batched across configurations and points via [pytorch-volumetric](https://github.com/UM-ARM-Lab/pytorch_volumetric)
 
 # Installation
@@ -183,7 +183,7 @@ ret = chain.forward_kinematics(th)
 ## Jacobian calculation
 The Jacobian (in the kinematics context) is a matrix describing how the end effector changes with respect to joint value changes
 (where ![dx](https://latex.codecogs.com/png.latex?%5Cinline%20%5Cdot%7Bx%7D) is the twist, or stacked velocity and angular velocity):
-![jacobian](https://latex.codecogs.com/png.latex?%5Cinline%20%5Cdot%7Bx%7D%3DJ%5Cdot%7Bq%7D) 
+![jacobian](https://latex.codecogs.com/png.latex?%5Cinline%20%5Cdot%7Bx%7D%3DJ%5Cdot%7Bq%7D)
 
 For `SerialChain` we provide a differentiable and parallelizable method for computing the Jacobian with respect to the base frame.
 ```python
@@ -223,7 +223,7 @@ The Jacobian can be used to do inverse kinematics. See [IK survey](https://www.m
 for a survey of ways to do so. Note that IK may be better performed through other means (but doing it through the Jacobian can give an end-to-end differentiable method).
 
 ## Inverse Kinematics (IK)
-Inverse kinematics is available via damped least squares (iterative steps with Jacobian pseudo-inverse damped to avoid oscillation near singularlities). 
+Inverse kinematics is available via damped least squares (iterative steps with Jacobian pseudo-inverse damped to avoid oscillation near singularlities).
 Compared to other IK libraries, these are the typical advantages over them:
 - not ROS dependent (many IK libraries need the robot description on the ROS parameter server)
 - batched in both goal specification and retries from different starting configurations

pyproject.toml

@@ -77,3 +77,77 @@ test = [
 # They will be installed as dependencies during the build, which can take a while the first time.
 requires = ["setuptools>=60.0.0", "wheel"]
 build-backend= "setuptools.build_meta"
+
+
+[tool.ruff]
+src = ["src", "tests",]
+show-fixes = true
+# Same as Black.
+line-length = 127
+# Assume Python 3.8.
+target-version = "py38"
+
+[tool.ruff.lint]
+extend-select = ["C4", "SIM", "TCH"]
+
+ignore = [
+    "A001", "A002",
+    "ARG001", "ARG002",
+    "B007", "B008", "B019", "B023", "B028", "B904", "B026",
+    "E501", "ERA001", "E741", "E722",
+    "FBT001", "FBT002", "FBT003",
+    "N802", "N803", "N806", "N812",
+    "PGH003", "PGH004", "PLR2004",
+    "S101", "S202", "S301", "S310", "S311", "S320",
+    "UP006",
+	"T201", "T203"
+]
+
+select = [
+    "A",
+    "ARG",
+    "B",
+    "C4",
+    "C90",
+    "E",
+    "ERA",
+    "F",
+    "FBT",
+    "ICN",
+    "I",
+    "ISC",
+    "N",
+    "NPY",
+    "PD",
+    "PGH",
+    "PIE",
+    "PLE",
+    "PLR",
+    "Q",
+    "RUF",
+    "S",
+    "SIM",
+    "T",
+    "UP",
+    "W",
+]
+
+[tool.ruff.lint.mccabe]
+# Unlike Flake8, default to a complexity level of 10.
+max-complexity = 30
+
+[tool.ruff.lint.isort]
+lines-after-imports = 2
+extra-standard-library = ["typing_extensions"]
+
+[tool.ruff.lint.pylint]
+max-statements = 100
+max-branches=25
+max-args=20
+
+[tool.ruff.lint.per-file-ignores]
+"tests/*.py" = ["PLR2004", "N802", "N801", "SIM115", "E501", "ERA001"]
+
+
+[tool.black]
+line-length = 127

src/pytorch_kinematics/cfg.py

@@ -1,4 +1,5 @@
-import os
+from pathlib import Path
 
-ROOT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
-TEST_DIR = os.path.join(ROOT_DIR, 'tests')
+
+ROOT_DIR = Path(__file__).resolve().parent.parent.parent
+TEST_DIR = ROOT_DIR / "tests"