do stuff

.github/workflows/photon-api-docs.yml

@@ -46,7 +46,7 @@ jobs:
         run: pnpm run build-demo
       - uses: actions/upload-artifact@v4
         with:
-          name: built-demo
+          name: demo
           path: photon-client/dist/
 
   run_java_cpp_docs:
@@ -74,9 +74,39 @@ jobs:
         name: docs-java-cpp
         path: photon-docs/build/docs
 
+  run_py_docs:
+    name: Build Python API Docs
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r photon-lib/py/docs/requirements.txt
+
+      - name: Build Sphinx site
+        run: |
+          sphinx-apidoc -o docs/source photonlibpy
+          make -C docs html
+        working-directory: photon-lib/py
+
+      - name: Upload built site as artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: docs-python
+          path: photon-lib/py/docs/build/html
+
   publish_api_docs:
     name: Publish API Docs
-    needs: [run_java_cpp_docs]
+    needs: [ run_java_cpp_docs, run_py_docs ]
     runs-on: ubuntu-22.04
     steps:
       # Download docs artifact
@@ -85,7 +115,7 @@ jobs:
           pattern: docs-*
       - run: find .
       - name: Publish Docs To Development
-        if: github.ref == 'refs/heads/main'
+        # if: github.ref == 'refs/heads/main'
         uses: up9cloud/action-rsync@v1.4
         env:
           HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
@@ -108,7 +138,7 @@ jobs:
       steps:
       - uses: actions/download-artifact@v4
         with:
-          name: built-demo
+          name: demo
       - run: find .
       - name: Publish demo
         if: github.ref == 'refs/heads/main'

.github/workflows/python.yml

@@ -29,7 +29,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install setuptools wheel pytest mypy
+          pip install setuptools wheel pytest mypy mkdocs mkdocs-gen-files
 
       - name: Build wheel
         working-directory: ./photon-lib/py

.gitignore

@@ -142,9 +142,13 @@ venv
 .venv/*
 .venv
 networktables.json
+
 # Web stuff
 photon-server/src/main/resources/web/*
 node_modules
 dist
 components.d.ts
+
+# Py docs stuff
+photon-lib/py/docs/build
 photon-server/src/main/resources/web/index.html

README.md

@@ -20,6 +20,7 @@ If you are interested in contributing code or documentation to the project, plea
 - Photon UI demo: [http://photonvision.global/](http://photonvision.global/)
 - Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org)
 - C++ Doxygen  [cppdocs.photonvision.org](https://cppdocs.photonvision.org)
+- Python Documentation [pydocs.photonvision.org](https://pydocs.photonvision.org)
 
 ## Building
 

docs/source/index.md

@@ -138,5 +138,7 @@ docs/contributing/index
 
  Java <https://javadocs.photonvision.org>
 
- C++ <https://cppdocs.photonvision.org/>
+ C++ <https://cppdocs.photonvision.org>
+
+ Python <https://pydocs.photonvision.org>
 ```

photon-lib/py/docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

photon-lib/py/docs/_stubs/wpimath/__init__.py

@@ -0,0 +1,5 @@
+# Minimal wpimath stub for Sphinx docs build
+from . import geometry
+from . import units
+
+__all__ = ["geometry", "units"]

photon-lib/py/docs/_stubs/wpimath/_init__wpimath.py

@@ -0,0 +1,4 @@
+# Stub module to match wpimath compiled module names
+# This file exists so imports like `wpimath._init__wpimath` succeed during docs build.
+
+# no-op

photon-lib/py/docs/_stubs/wpimath/geometry.py

@@ -0,0 +1,130 @@
+# Minimal geometry stubs for Sphinx documentation
+
+class Rotation3d:
+    def __init__(self, roll=0.0, pitch=0.0, yaw=0.0):
+        # store yaw as the primary rotation for simple stubs
+        self.roll = roll
+        self.pitch = pitch
+        self.yaw = yaw
+
+    def toRotation2d(self):
+        # convert yaw to a Rotation2d for simple compatibility in docs build
+        return Rotation2d(self.yaw)
+
+class Translation3d:
+    def __init__(self, x=0.0, y=0.0, z=0.0):
+        # Support both (x, y, z) and (distance, Rotation3d) forms used by the real wpimath
+        # If y is a Rotation3d, compute a point at 'distance' along its yaw/pitch
+        try:
+            from math import cos, sin
+        except Exception:
+            def cos(x):
+                return x
+            def sin(x):
+                return x
+
+        if hasattr(y, "yaw") and hasattr(y, "pitch"):
+            # interpret constructor as Translation3d(distance, Rotation3d)
+            distance = float(x)
+            pitch = float(getattr(y, "pitch", 0.0))
+            yaw = float(getattr(y, "yaw", 0.0))
+            # approximate spherical -> cartesian
+            self._x = distance * cos(pitch) * cos(yaw)
+            self._y = distance * cos(pitch) * sin(yaw)
+            self._z = distance * sin(pitch)
+        else:
+            self._x = float(x)
+            self._y = float(y)
+            self._z = float(z)
+
+    def X(self):
+        return self._x
+
+    def Y(self):
+        return self._y
+
+    def Z(self):
+        return self._z
+
+class Pose3d:
+    def __init__(self, *args, **kwargs):
+        pass
+
+class Rotation2d:
+    def __init__(self, *args):
+        # Accept several initialization forms used in the real wpimath Rotation2d
+        # - Rotation2d(angle)
+        # - Rotation2d(fx, xOffset) used by SimCameraProperties.getPixelYaw
+        if len(args) == 0:
+            self._angle = 0.0
+        elif len(args) == 1:
+            self._angle = float(args[0])
+        else:
+            # fallback: when called with fx, xOffset, approximate angle as 0.0
+            self._angle = 0.0
+
+    def degrees(self):
+        from math import degrees
+
+        return degrees(self._angle)
+
+    def radians(self):
+        return float(self._angle)
+    
+    def __add__(self, other):
+        # allow Rotation2d + Rotation2d or Rotation2d + numeric
+        if hasattr(other, "_angle"):
+            return Rotation2d(self._angle + float(other._angle))
+        try:
+            return Rotation2d(self._angle + float(other))
+        except Exception:
+            return NotImplemented
+
+    def __radd__(self, other):
+        # numeric + Rotation2d
+        return self.__add__(other)
+
+    def __sub__(self, other):
+        if hasattr(other, "_angle"):
+            return Rotation2d(self._angle - float(other._angle))
+        try:
+            return Rotation2d(self._angle - float(other))
+        except Exception:
+            return NotImplemented
+
+    def __neg__(self):
+        return Rotation2d(-self._angle)
+
+    def __repr__(self):
+        return f"Rotation2d({self._angle})"
+
+class Translation2d:
+    def __init__(self, x=0.0, y=0.0):
+        self._x = float(x)
+        self._y = float(y)
+
+    def X(self):
+        return self._x
+
+    def Y(self):
+        return self._y
+
+class Pose2d:
+    def __init__(self, *args, **kwargs):
+        pass
+
+    def __repr__(self) -> str:
+        return "Pose2d()"
+
+
+class Transform3d:
+    def __init__(self, *args, **kwargs):
+        pass
+
+
+class Quaternion:
+    def __init__(self, *args, **kwargs):
+        pass
+
+# Expose names commonly used by photonlibpy
+__all__ = ["Rotation3d", "Translation3d", "Pose3d", "Rotation2d", "Translation2d", "Pose2d"]

photon-lib/py/docs/_stubs/wpimath/interpolation.py

@@ -0,0 +1,12 @@
+# Minimal interpolation stub for docs
+class TimeInterpolatableRotation2dBuffer:
+    def __init__(self, *args, **kwargs):
+        pass
+
+    def addSample(self, *args, **kwargs):
+        pass
+
+    def sample(self, *args, **kwargs):
+        return None
+
+__all__ = ["TimeInterpolatableRotation2dBuffer"]

photon-lib/py/docs/_stubs/wpimath/interpolation/__init__.py

@@ -0,0 +1,3 @@
+from ._interpolation import *
+
+__all__ = ["TimeInterpolatableRotation2dBuffer"]

photon-lib/py/docs/_stubs/wpimath/interpolation/_interpolation.py

@@ -0,0 +1,25 @@
+# Minimal interpolation submodule stub for docs
+class TimeInterpolatableRotation2dBuffer:
+    def __init__(self, *args, **kwargs):
+        pass
+
+    def addSample(self, *args, **kwargs):
+        pass
+
+    def sample(self, *args, **kwargs):
+        return None
+
+
+class TimeInterpolatablePose3dBuffer:
+    def __init__(self, *args, **kwargs):
+        # buffer of Pose3d-like objects for docs import
+        pass
+
+    def addSample(self, *args, **kwargs):
+        pass
+
+    def sample(self, *args, **kwargs):
+        return None
+
+
+__all__ = ["TimeInterpolatableRotation2dBuffer", "TimeInterpolatablePose3dBuffer"]

photon-lib/py/docs/_stubs/wpimath/units.py

@@ -0,0 +1,31 @@
+"""Minimal wpimath.units stub for documentation builds."""
+
+def degreesToRadians(deg: float) -> float:
+    from math import pi
+
+    return deg * (pi / 180.0)
+
+
+# Represent seconds as a float alias for annotations
+seconds = float
+
+__all__ = ["degreesToRadians", "seconds"]
+
+# Common unit aliases used in type annotations in WPILib stubs
+meters = float
+meters_per_second = float
+meters_per_second_squared = float
+kilograms = float
+kilogram_square_meters = float
+
+__all__.extend([
+    "meters",
+    "meters_per_second",
+    "meters_per_second_squared",
+    "kilograms",
+    "kilogram_square_meters",
+    "hertz",
+])
+
+# frequency
+hertz = float

photon-lib/py/docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

photon-lib/py/docs/requirements.txt

@@ -0,0 +1,3 @@
+sphinx==7.2.6
+sphinx-autodoc-typehints==1.25.2
+sphinx-rtd-theme==1.3.0

photon-lib/py/docs/source/conf.py

@@ -0,0 +1,53 @@
+import os
+import sys
+
+# This adds the 'py/' directory to the Python path
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
+
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = "PhotonVision"
+copyright = "2025, Matt Morley, Banks Troutman"
+author = "Matt Morley, Banks Troutman"
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.napoleon",  # for Google/NumPy docstrings
+    "sphinx_autodoc_typehints",  # for type hints in docs
+]
+
+import os
+import sys
+
+sys.path.insert(
+    0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "_stubs"))
+)  # add docs stubs first so they shadow unavailable third-party packages
+
+sys.path.insert(
+    0, os.path.abspath("../../photonlibpy")
+)  # adjust based on your project layout
+# Mock imports that aren't available in the docs build environment so autodoc
+# can import the local modules even if optional runtime deps (like wpimath)
+# aren't installed. Add other names here if you see warnings for missing
+# third-party packages during the build.
+autodoc_mock_imports = [
+    "wpilib",
+]
+templates_path = ["_templates"]
+exclude_patterns = []
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = "sphinx_rtd_theme"
+html_static_path = ["_static"]

photon-lib/py/docs/source/index.rst

@@ -0,0 +1,17 @@
+.. PhotonVision documentation master file, created by
+   sphinx-quickstart on Fri May  9 12:16:37 2025.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+PhotonLib Python Documentation
+===============================
+
+
+The main documentation for PhotonVision can be found at `photonvision.org <https://photonvision.org>`_.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   modules
+   photonlibpy

photon-lib/py/docs/source/modules.rst

@@ -0,0 +1,7 @@
+photonlibpy
+===========
+
+.. toctree::
+   :maxdepth: 4
+
+   photonlibpy

photon-lib/py/docs/source/photonlibpy.estimation.rst

@@ -0,0 +1,53 @@
+photonlibpy.estimation package
+==============================
+
+Submodules
+----------
+
+photonlibpy.estimation.cameraTargetRelation module
+--------------------------------------------------
+
+.. automodule:: photonlibpy.estimation.cameraTargetRelation
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.estimation.openCVHelp module
+----------------------------------------
+
+.. automodule:: photonlibpy.estimation.openCVHelp
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.estimation.rotTrlTransform3d module
+-----------------------------------------------
+
+.. automodule:: photonlibpy.estimation.rotTrlTransform3d
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.estimation.targetModel module
+-----------------------------------------
+
+.. automodule:: photonlibpy.estimation.targetModel
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.estimation.visionEstimation module
+----------------------------------------------
+
+.. automodule:: photonlibpy.estimation.visionEstimation
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: photonlibpy.estimation
+   :members:
+   :undoc-members:
+   :show-inheritance:

photon-lib/py/docs/source/photonlibpy.generated.rst

@@ -0,0 +1,61 @@
+photonlibpy.generated package
+=============================
+
+Submodules
+----------
+
+photonlibpy.generated.MultiTargetPNPResultSerde module
+------------------------------------------------------
+
+.. automodule:: photonlibpy.generated.MultiTargetPNPResultSerde
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.generated.PhotonPipelineMetadataSerde module
+--------------------------------------------------------
+
+.. automodule:: photonlibpy.generated.PhotonPipelineMetadataSerde
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.generated.PhotonPipelineResultSerde module
+------------------------------------------------------
+
+.. automodule:: photonlibpy.generated.PhotonPipelineResultSerde
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.generated.PhotonTrackedTargetSerde module
+-----------------------------------------------------
+
+.. automodule:: photonlibpy.generated.PhotonTrackedTargetSerde
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.generated.PnpResultSerde module
+-------------------------------------------
+
+.. automodule:: photonlibpy.generated.PnpResultSerde
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.generated.TargetCornerSerde module
+----------------------------------------------
+
+.. automodule:: photonlibpy.generated.TargetCornerSerde
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: photonlibpy.generated
+   :members:
+   :undoc-members:
+   :show-inheritance:

photon-lib/py/docs/source/photonlibpy.networktables.rst

@@ -0,0 +1,21 @@
+photonlibpy.networktables package
+=================================
+
+Submodules
+----------
+
+photonlibpy.networktables.NTTopicSet module
+-------------------------------------------
+
+.. automodule:: photonlibpy.networktables.NTTopicSet
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: photonlibpy.networktables
+   :members:
+   :undoc-members:
+   :show-inheritance:

photon-lib/py/docs/source/photonlibpy.rst

@@ -0,0 +1,58 @@
+photonlibpy package
+===================
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   photonlibpy.estimation
+   photonlibpy.generated
+   photonlibpy.networktables
+   photonlibpy.simulation
+   photonlibpy.targeting
+   photonlibpy.timesync
+
+Submodules
+----------
+
+photonlibpy.estimatedRobotPose module
+-------------------------------------
+
+.. automodule:: photonlibpy.estimatedRobotPose
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.packet module
+-------------------------
+
+.. automodule:: photonlibpy.packet
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.photonCamera module
+-------------------------------
+
+.. automodule:: photonlibpy.photonCamera
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.photonPoseEstimator module
+--------------------------------------
+
+.. automodule:: photonlibpy.photonPoseEstimator
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: photonlibpy
+   :members:
+   :undoc-members:
+   :show-inheritance:

photon-lib/py/docs/source/photonlibpy.simulation.rst

@@ -0,0 +1,53 @@
+photonlibpy.simulation package
+==============================
+
+Submodules
+----------
+
+photonlibpy.simulation.photonCameraSim module
+---------------------------------------------
+
+.. automodule:: photonlibpy.simulation.photonCameraSim
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.simulation.simCameraProperties module
+-------------------------------------------------
+
+.. automodule:: photonlibpy.simulation.simCameraProperties
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.simulation.videoSimUtil module
+------------------------------------------
+
+.. automodule:: photonlibpy.simulation.videoSimUtil
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.simulation.visionSystemSim module
+---------------------------------------------
+
+.. automodule:: photonlibpy.simulation.visionSystemSim
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.simulation.visionTargetSim module
+---------------------------------------------
+
+.. automodule:: photonlibpy.simulation.visionTargetSim
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: photonlibpy.simulation
+   :members:
+   :undoc-members:
+   :show-inheritance:

photon-lib/py/docs/source/photonlibpy.targeting.rst

@@ -0,0 +1,45 @@
+photonlibpy.targeting package
+=============================
+
+Submodules
+----------
+
+photonlibpy.targeting.TargetCorner module
+-----------------------------------------
+
+.. automodule:: photonlibpy.targeting.TargetCorner
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.targeting.multiTargetPNPResult module
+-------------------------------------------------
+
+.. automodule:: photonlibpy.targeting.multiTargetPNPResult
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.targeting.photonPipelineResult module
+-------------------------------------------------
+
+.. automodule:: photonlibpy.targeting.photonPipelineResult
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+photonlibpy.targeting.photonTrackedTarget module
+------------------------------------------------
+
+.. automodule:: photonlibpy.targeting.photonTrackedTarget
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: photonlibpy.targeting
+   :members:
+   :undoc-members:
+   :show-inheritance:

photon-lib/py/docs/source/photonlibpy.timesync.rst

@@ -0,0 +1,21 @@
+photonlibpy.timesync package
+============================
+
+Submodules
+----------
+
+photonlibpy.timesync.timeSyncServer module
+------------------------------------------
+
+.. automodule:: photonlibpy.timesync.timeSyncServer
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: photonlibpy.timesync
+   :members:
+   :undoc-members:
+   :show-inheritance:

photon-lib/py/photonlibpy/packet.py

@@ -70,19 +70,11 @@ class Packet:
         return retVal
 
     def getData(self) -> bytes:
-        """
-        * Returns the packet data.
-        *
-        * @return The packet data.
-        """
+        """Return the packet data."""
         return self.packetData
 
     def setData(self, data: bytes):
-        """
-        * Sets the packet data.
-        *
-        * @param data The packet data.
-        """
+        """Set the packet data."""
         self.clear()
         self.packetData = data
         self.size = len(self.packetData)
@@ -101,74 +93,42 @@ class Packet:
         return value
 
     def decode8(self) -> int:
-        """
-        * Returns a single decoded byte from the packet.
-        *
-        * @return A decoded byte from the packet.
-        """
+        """Return a single decoded byte from the packet."""
         return self._decodeGeneric("<b", 1)
 
     def decode16(self) -> int:
-        """
-        * Returns a single decoded short from the packet.
-        *
-        * @return A decoded short from the packet.
-        """
+        """Return a single decoded short from the packet."""
         return self._decodeGeneric("<h", 2)
 
     def decodeInt(self) -> int:
-        """
-        * Returns a decoded int (32 bytes) from the packet.
-        *
-        * @return A decoded int from the packet.
-        """
+        """Return a decoded 32-bit integer from the packet."""
         return self._decodeGeneric("<l", 4)
 
     def decodeFloat(self) -> float:
-        """
-        * Returns a decoded float from the packet.
-        *
-        * @return A decoded float from the packet.
-        """
+        """Return a decoded float from the packet."""
         return self._decodeGeneric("<f", 4)
 
     def decodeLong(self) -> int:
-        """
-        * Returns a decoded int64 from the packet.
-        *
-        * @return A decoded int64 from the packet.
-        """
+        """Return a decoded 64-bit integer from the packet."""
         return self._decodeGeneric("<q", 8)
 
     def decodeDouble(self) -> float:
-        """
-        * Returns a decoded double from the packet.
-        *
-        * @return A decoded double from the packet.
-        """
+        """Return a decoded double from the packet."""
         return self._decodeGeneric("<d", 8)
 
     def decodeBoolean(self) -> bool:
-        """
-        * Returns a decoded boolean from the packet.
-        *
-        * @return A decoded boolean from the packet.
-        """
+        """Return a decoded boolean from the packet."""
         return self.decode8() == 1
 
     def decodeDoubleArray(self, length: int) -> list[float]:
-        """
-        * Returns a decoded array of floats from the packet.
-        """
+        """Return a decoded list of doubles of the given length from the packet."""
         ret = []
         for _ in range(length):
             ret.append(self.decodeDouble())
         return ret
 
     def decodeShortList(self) -> list[int]:
-        """
-        * Returns a decoded array of shorts from the packet.
-        """
+        """Return a decoded list of shorts from the packet (length-prefixed)."""
         length = self.decode8()
         ret = []
         for _ in range(length):
@@ -176,11 +136,7 @@ class Packet:
         return ret
 
     def decodeTransform(self) -> Transform3d:
-        """
-        * Returns a decoded Transform3d
-        *
-        * @return A decoded Tansform3d from the packet.
-        """
+        """Return a decoded Transform3d from the packet."""
         x = self.decodeDouble()
         y = self.decodeDouble()
         z = self.decodeDouble()

photon-lib/py/photonlibpy/photonPoseEstimator.py

@@ -261,18 +261,18 @@ class PhotonPoseEstimator:
     def update(
         self, cameraResult: Optional[PhotonPipelineResult] = None
     ) -> Optional[EstimatedRobotPose]:
-        """
-        Updates the estimated position of the robot. Returns empty if:
+        """Update the estimated robot position.
 
-         - The timestamp of the provided pipeline result is the same as in the previous call to
-         ``update()``.
+        Returns empty if one of the following is true:
 
-         - No targets were found in the pipeline results.
+        - The timestamp of the provided pipeline result is the same as in the previous call to
+          ``update()``.
+        - No targets were found in the pipeline results.
 
-        :param cameraResult: The latest pipeline result from the camera
+        :param cameraResult: The latest pipeline result from the camera.
 
-        :returns: an :class:`EstimatedRobotPose` with an estimated pose, timestamp, and targets used to
-                   create the estimate.
+        :returns: An :class:`EstimatedRobotPose` with an estimated pose, timestamp, and targets used
+                  to create the estimate, or ``None`` if no estimate could be made.
         """
         if not cameraResult:
             if not self._camera:

photon-lib/py/photonlibpy/simulation/simCameraProperties.py

@@ -306,14 +306,13 @@ class SimCameraProperties:
         :param a:     The initial translation of the line
         :param b:     The final translation of the line
 
-        :returns: A Pair of Doubles. The values may be null:
+                :returns: A pair of floats (t_min, t_max) where each may be ``None``:
 
-                  - {Double, Double} : Two parametrized values(t), minimum first, representing which
-                  segment of the line is visible in the camera frustum.
-                  - {Double, null} : One value(t) representing a single intersection point. For example,
-                  the line only intersects the intersection of two adjacent viewplanes.
-                  - {null, null} : No values. The line segment is not visible in the camera frustum.
-        """
+                                    - ``(float, float)``: Two t values (minimum first) representing the visible segment.
+                                    - ``(float, None)``: A single intersection point.
+                                    - ``(None, None)``: No intersection; the segment is not visible.
+
+                """
 
         # translations relative to the camera
         relA = camRt.applyTranslation(a)