Rename function to fn

Author: ratheron

SKILL.md

@@ -47,7 +47,7 @@ Grepping the name of an existing model or drone finds every registration site, e
 against all models in the simulation's `build_control_fns`.
 
 Define the function in `dynamics.py` and never in the package `__init__.py`, because
-`load_function_params` derives the model name from `fn.__module__.split(".")[-2]`. `parametrize`
+`load_fn_params` derives the model name from `fn.__module__.split(".")[-2]`. `parametrize`
 binds exactly the keyword-only parameters after the bare `*`, so anything before it is never bound.
 Every drone in `available_drones` needs a complete section in every model's
 `crazyflow/dynamics/*/params.toml`; the commented example at the top of each file lists the keys.
@@ -63,7 +63,7 @@ Pure, batched, array-API functions with no dependency on `Sim`.
   immediately, and scipy cannot be reconfigured once loaded. Transitive imports through acados or
   sklearn trigger this too.
 - `dynamics` and `control` each have `load_params(name, drone)`, returning everything defined for
-  the drone, and `load_function_params(fn, drone)`, which filters to the signature of `fn` and
+  the drone, and `load_fn_params(fn, drone)`, which filters to the signature of `fn` and
   silently drops the rest. Platform data that nothing uses sits as a comment in the drone MJCF.
 - `parametrize` returns a `functools.partial` whose `keywords` dict is shared by every reference to
   it. Call `parametrize` again for an independent copy.

crazyflow/control/__init__.py

@@ -14,7 +14,7 @@
 
 __all__ = []
 
-from crazyflow.control.core import Control, load_function_params, load_params, parametrize
+from crazyflow.control.core import Control, load_fn_params, load_params, parametrize
 from crazyflow.control.mellinger import attitude2force_torque as mellinger_attitude2force_torque
 from crazyflow.control.mellinger import body_rate2force_torque as mellinger_body_rate2force_torque
 from crazyflow.control.mellinger import state2attitude as mellinger_state2attitude
@@ -25,4 +25,4 @@
     "mellinger_body_rate2force_torque": mellinger_body_rate2force_torque,
 }
 
-__all__ = ["Control", "load_params", "load_function_params", "parametrize"]
+__all__ = ["Control", "load_params", "load_fn_params", "parametrize"]

crazyflow/control/core.py

@@ -90,7 +90,7 @@ def parametrize(
     Returns:
         The parametrized controller function with all keyword argument only parameters filled in.
     """
-    return _parametrize(fn, drone, load_function_params, xp=xp, device=device)
+    return _parametrize(fn, drone, load_fn_params, xp=xp, device=device)
 
 
 def load_params(
@@ -120,7 +120,7 @@ def load_params(
     return to_xp(params[drone], xp=xp, device=device)
 
 
-def load_function_params(
+def load_fn_params(
     fn: Callable, drone: str, xp: ModuleType | None = None, device: str | None = None
 ) -> dict[str, Array]:
     """Load the parameters a controller function accepts.

crazyflow/control/mellinger/control.py

@@ -20,7 +20,7 @@
 from flax.struct import dataclass, field
 from scipy.spatial.transform import Rotation as R
 
-from crazyflow.control.core import controllable, load_function_params
+from crazyflow.control.core import controllable, load_fn_params
 from crazyflow.control.transform import force2pwm, motor_force2rotor_vel, pwm2force
 from crazyflow.utils import CORE_NDIM_KEY, leaf_replace
 
@@ -513,7 +513,7 @@ def create(
         zeros_3d = jnp.zeros((n_worlds, n_drones, 3), device=device)
         cmd = jnp.zeros((n_worlds, n_drones, 16), device=device).at[..., 12].set(1.0)
         steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device)
-        params = load_function_params(state2attitude, drone, xp=jnp, device=device)
+        params = load_fn_params(state2attitude, drone, xp=jnp, device=device)
         return MellingerStateData(
             cmd=cmd,
             staged_cmd=cmd.copy(),
@@ -553,7 +553,7 @@ def create(
         zeros_3d = jnp.zeros((n_worlds, n_drones, 3), device=device)
         zeros_4d = jnp.zeros((n_worlds, n_drones, 4), device=device)
         steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device)
-        params = load_function_params(attitude2force_torque, drone, xp=jnp, device=device)
+        params = load_fn_params(attitude2force_torque, drone, xp=jnp, device=device)
         return MellingerAttitudeData(
             cmd=zeros_4d.copy(),
             staged_cmd=zeros_4d.copy(),
@@ -595,7 +595,7 @@ def create(
         zeros_3d = jnp.zeros((n_worlds, n_drones, 3), device=device)
         zeros_4d = jnp.zeros((n_worlds, n_drones, 4), device=device)
         steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device)
-        params = load_function_params(body_rate2force_torque, drone, xp=jnp, device=device)
+        params = load_fn_params(body_rate2force_torque, drone, xp=jnp, device=device)
         return MellingerBodyRateData(
             cmd=zeros_4d.copy(),
             staged_cmd=zeros_4d.copy(),
@@ -629,7 +629,7 @@ def create(
     ) -> MellingerForceTorqueData:
         zeros_4d = jnp.zeros((n_worlds, n_drones, 4), device=device)
         steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device)
-        params = load_function_params(force_torque2rotor_vel, drone, xp=jnp, device=device)
+        params = load_fn_params(force_torque2rotor_vel, drone, xp=jnp, device=device)
         return MellingerForceTorqueData(
             cmd=zeros_4d.copy(), staged_cmd=zeros_4d.copy(), steps=steps, freq=freq, params=params
         )

crazyflow/dynamics/__init__.py

@@ -14,7 +14,7 @@
 
 from typing import Callable
 
-from crazyflow.dynamics.core import Dynamics, load_function_params, load_params, parametrize
+from crazyflow.dynamics.core import Dynamics, load_fn_params, load_params, parametrize
 from crazyflow.dynamics.first_principles import dynamics as _first_principles_dynamics
 from crazyflow.dynamics.so_rpy import dynamics as _so_rpy_dynamics
 from crazyflow.dynamics.so_rpy_rotor import dynamics as _so_rpy_rotor_dynamics
@@ -23,7 +23,7 @@
 __all__ = [
     "parametrize",
     "load_params",
-    "load_function_params",
+    "load_fn_params",
     "available_dynamics",
     "dynamics_features",
     "Dynamics",

crazyflow/dynamics/core.py

@@ -81,7 +81,7 @@ def parametrize(
     Returns:
         The parametrized dynamics function with all keyword argument only parameters filled in.
     """
-    return _parametrize(fn, drone, load_function_params, xp=xp, device=device)
+    return _parametrize(fn, drone, load_fn_params, xp=xp, device=device)
 
 
 def load_params(
@@ -120,7 +120,7 @@ def load_params(
     return to_xp(params, xp=xp, device=device)
 
 
-def load_function_params(
+def load_fn_params(
     fn: Callable, drone: str, xp: ModuleType | None = None, device: str | None = None
 ) -> dict:
     """Load the parameters a dynamics function accepts.

crazyflow/dynamics/first_principles/dynamics.py

@@ -25,7 +25,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import crazyflow.dynamics.symbols as symbols
-from crazyflow.dynamics.core import load_function_params, supports
+from crazyflow.dynamics.core import load_fn_params, supports
 from crazyflow.dynamics.utils import rotation
 from crazyflow.utils import CORE_NDIM_KEY, to_xp
 
@@ -342,7 +342,7 @@ class Params:
     @staticmethod
     def create(drone: str, device: Device) -> Params:
         """Create the default parameters for the simulation."""
-        p = load_function_params(dynamics, drone)
+        p = load_fn_params(dynamics, drone)
         J = jnp.asarray(p["J"], device=device)
         return Params(
             mass=jnp.asarray([p["mass"]], device=device),

crazyflow/dynamics/so_rpy/dynamics.py

@@ -24,7 +24,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import crazyflow.dynamics.symbols as symbols
-from crazyflow.dynamics.core import load_function_params, supports
+from crazyflow.dynamics.core import load_fn_params, supports
 from crazyflow.dynamics.utils import rotation
 from crazyflow.utils import CORE_NDIM_KEY, to_xp
 
@@ -345,7 +345,7 @@ class Params:
     @staticmethod
     def create(drone: str, device: Device) -> Params:
         """Create the default parameters for the simulation."""
-        p = load_function_params(dynamics, drone)
+        p = load_fn_params(dynamics, drone)
         J = jnp.asarray(p["J"], device=device)
         return Params(
             mass=jnp.asarray([p["mass"]], device=device),

crazyflow/dynamics/so_rpy_rotor/dynamics.py

@@ -26,7 +26,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import crazyflow.dynamics.symbols as symbols
-from crazyflow.dynamics.core import load_function_params, supports
+from crazyflow.dynamics.core import load_fn_params, supports
 from crazyflow.dynamics.utils import rotation
 from crazyflow.utils import CORE_NDIM_KEY, to_xp
 
@@ -398,7 +398,7 @@ class Params:
     @staticmethod
     def create(drone: str, device: Device) -> Params:
         """Create the default parameters for the simulation."""
-        p = load_function_params(dynamics, drone)
+        p = load_fn_params(dynamics, drone)
         J = jnp.asarray(p["J"], device=device)
         return Params(
             mass=jnp.asarray([p["mass"]], device=device),

crazyflow/dynamics/so_rpy_rotor_drag/dynamics.py

@@ -28,7 +28,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import crazyflow.dynamics.symbols as symbols
-from crazyflow.dynamics.core import load_function_params, supports
+from crazyflow.dynamics.core import load_fn_params, supports
 from crazyflow.dynamics.utils import rotation
 from crazyflow.utils import CORE_NDIM_KEY, to_xp
 
@@ -434,7 +434,7 @@ class Params:
     @staticmethod
     def create(drone: str, device: Device) -> Params:
         """Create the default parameters for the simulation."""
-        p = load_function_params(dynamics, drone)
+        p = load_fn_params(dynamics, drone)
         J = jnp.asarray(p["J"], device=device)
         return Params(
             mass=jnp.asarray([p["mass"]], device=device),