Add SKILL.md file

SKILL.md

@@ -0,0 +1,96 @@
+---
+name: crazyflow
+description: Non-obvious traps and conventions in the crazyflow drone simulator. Use when working
+  in the crazyflow codebase, adding a dynamics model or drone platform, reusing the dynamics or
+  controllers outside Sim for estimation or MPC, or writing code under jax.jit, grad or vmap.
+---
+
+# Crazyflow
+
+Settings are in `pyproject.toml`, layout in the tree, API reference in `docs/`.
+
+## Conventions
+
+- Ruff settings live in `pyproject.toml` and must pass before committing.
+- Dynamics and controllers follow the array API standard. Take the namespace from the inputs with
+  `array_namespace(...)`, do all math through it, coerce bound parameters with `to_xp`, and never
+  import `numpy` into a computation path.
+- `crazyflow/control/mellinger/params.toml` deliberately holds values that differ from the true
+  physical constants in `crazyflow/drones/params.toml`, reproducing the real firmware. Do not
+  unify them.
+
+## Testing
+
+```bash
+pixi run -e tests tests        # what CI runs
+pixi run -e tests test-docs    # every example in docstrings and docs
+```
+
+Use pixi, not uv. `pixi run <cmd>` resolves task names only, so arbitrary commands need `-e tests`.
+
+- `addopts = "-m 'not render'"` deselects every render test, and `tests/unit/test_visualizations.py`
+  is `@skip_if_headless` without the marker, so it is skipped silently without `DISPLAY`. Rendering
+  regressions pass CI green. Run `-m render` locally with a display.
+- Docs and docstrings are executable. The markdown runner catches exceptions but never compares
+  output, so a `print` with the result in a trailing comment proves nothing. Output that must be
+  checked goes in a `pycon` fence with `>>>` prompts, which doctest picks up.
+- `tests/integration/test_examples.py` runs every script under `examples/`, so a new example is a
+  new test.
+- `tests/conftest.py` forces JAX's persistent cache on at `/tmp/jax_cache`, shared across branches.
+  Delete it when failures make no sense.
+- Request the `device` fixture rather than a GPU marker. It falls back to CPU silently, so
+  `gpu-tests` asserts nothing about placement on a machine without CUDA.
+
+## Adding a dynamics model or drone
+
+Grepping the name of an existing model or drone finds every registration site, except when matching
+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_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 section in every `crazyflow/dynamics/*/params.toml`, even an empty one.
+
+Registration alone produces roughly 40 parametrized tests. These do not include derivatives tests.
+
+## Using dynamics and controllers outside Sim
+
+Pure, batched, array-API functions with no dependency on `Sim`.
+
+- Import crazyflow before scipy. `crazyflow/__init__.py` sets `SCIPY_ARRAY_API=1` and imports scipy
+  immediately, and scipy cannot be reconfigured once loaded. Transitive imports through acados or
+  sklearn trigger this too.
+- Three different `load_params` exist. The two in `.core` filter to the target signature and
+  silently drop the rest, so hardware constants like `thrust_max` need
+  `crazyflow.drones.load_params`.
+- `parametrize` returns a `functools.partial` whose `keywords` dict is shared by every reference to
+  it. Call `parametrize` again for an independent copy.
+- Leading batch dimensions, trailing feature axis. `quat` is scalar-last xyzw, `force` is `(..., 1)`
+  rather than a scalar, `ang_vel` is body frame.
+- `ctrl_freq` scales only the integral and derivative terms, so it must match your real loop rate.
+  Under jit, initialize integral states to zeros rather than `None`, since the pytree structure
+  change forces a recompile.
+- `symbolic_dynamics` monkey-patches module-global symbols while building, so it is not reentrant.
+  Do not build two concurrently.
+
+## The functional API and jit
+
+`Sim` rebinds `sim.data` as a Python side effect that JAX cannot trace, so anything inside `jit`,
+`grad`, `vmap` or `scan` must use `crazyflow.sim.functional` with `Sim` only as the builder. See
+[`functional-api.md`](docs/user-guide/functional-api.md).
+
+- **After editing a pipeline, call `build_step_fn()` or `build_reset_fn()` again.** The builders
+  snapshot the stages, so a later edit is silently ignored and the stage never runs.
+- `n_steps` is static, so each distinct value compiles separately. Build once and reuse.
+- `states.force` and `states.torque` are inputs, not outputs, and nothing clears them, so writing
+  them applies a persistent disturbance.
+- Mutating state does not invalidate `core.mjx_synced`, so `contacts()` can query stale geometry.
+  Set the flag false yourself.
+- Gradients vanish at `clip_floor_pos` (`jnp.where` on floor contact) and at any saturation bound.
+
+## Splats
+
+`attach_splats` performs no calibration. Both `.ply` files must already sit in the simulator's
+frames, the scene in the MuJoCo world frame at metric scale and the drone in its body frame. An
+uncalibrated splat looks correct alone but does not match the simulated geometry. See
+[`splats.md`](docs/user-guide/splats.md).

pyproject.toml

@@ -80,11 +80,8 @@ version = { attr = "crazyflow.__version__" }
 [tool.setuptools.package-data]
 crazyflow = ["scene.xml"]
 "crazyflow.drones" = ["*.xml", "params.toml", "assets/*/*.stl"]
-"crazyflow.dynamics.first_principles" = ["params.toml"]
-"crazyflow.dynamics.so_rpy" = ["params.toml"]
-"crazyflow.dynamics.so_rpy_rotor" = ["params.toml"]
-"crazyflow.dynamics.so_rpy_rotor_drag" = ["params.toml"]
-"crazyflow.control.mellinger" = ["params.toml"]
+"crazyflow.dynamics" = ["*/params.toml"]
+"crazyflow.control" = ["*/params.toml"]
 
 [tool.pytest.ini_options]
 markers = ["unit", "integration", "render"]