From 43455c49383ec502c3c075c9a13e0ab04c4b2824 Mon Sep 17 00:00:00 2001
From: George Pearse <georgehwp26@gmail.com>
Date: Sat, 25 Oct 2025 19:57:04 +0000
Subject: [PATCH] chore: remove pyright configuration and replace with ty type
 checking

---
 .github/workflows/test-coverage.yml    |  4 ++--
 .hypothesis/constants/02005bbee7a55682 |  4 ++++
 .hypothesis/constants/0492fa827a712490 |  4 ++++
 .hypothesis/constants/083f90f19173eb03 |  4 ++++
 .hypothesis/constants/175cb1e399cd569f |  4 ++++
 .hypothesis/constants/2e7bc01e0a044593 |  4 ++++
 .hypothesis/constants/2ffb07639a936418 |  4 ++++
 .hypothesis/constants/3c84b7ef2d5ddda9 |  4 ++++
 .hypothesis/constants/418565b875cdd235 |  4 ++++
 .hypothesis/constants/4b0ed83cb2a4b310 |  4 ++++
 .hypothesis/constants/50e6632f7779f0dd |  4 ++++
 .hypothesis/constants/55cb452dfba91cd6 |  4 ++++
 .hypothesis/constants/596d4b4dc37bea3a |  4 ++++
 .hypothesis/constants/5bd1beac0033b3f0 |  4 ++++
 .hypothesis/constants/5dd0f508c9deb2ca |  4 ++++
 .hypothesis/constants/67b0a8ccf18bf5d2 |  4 ++++
 .hypothesis/constants/68b87af3e5b1443b |  4 ++++
 .hypothesis/constants/6eccbc7c7c86ed9f |  4 ++++
 .hypothesis/constants/725df3bef4f0efd7 |  4 ++++
 .hypothesis/constants/73f7d716b737145e |  4 ++++
 .hypothesis/constants/74047c20b20e757e |  4 ++++
 .hypothesis/constants/78f449a91e3989d1 |  4 ++++
 .hypothesis/constants/80c204e383a6d5c2 |  4 ++++
 .hypothesis/constants/8137754e30d0d627 |  4 ++++
 .hypothesis/constants/8155ea1da0741a5f |  4 ++++
 .hypothesis/constants/855973b5c573e470 |  4 ++++
 .hypothesis/constants/866b3a494693c123 |  4 ++++
 .hypothesis/constants/87191149bd003c9e |  4 ++++
 .hypothesis/constants/8906636283fe30de |  4 ++++
 .hypothesis/constants/9a32e3db148973f4 |  4 ++++
 .hypothesis/constants/9d29fe15eb30f74d |  4 ++++
 .hypothesis/constants/a881ce0feea8a5f2 |  4 ++++
 .hypothesis/constants/bf05c3581d48aa7d |  4 ++++
 .hypothesis/constants/ca43b7530ec90117 |  4 ++++
 .hypothesis/constants/d21de301a5c2e1a9 |  4 ++++
 .hypothesis/constants/d2b72496fefbd262 |  4 ++++
 .hypothesis/constants/d358933f98502578 |  4 ++++
 .hypothesis/constants/e83040be8789bdbe |  4 ++++
 .hypothesis/constants/ea7838945e1cd5cf |  4 ++++
 .hypothesis/constants/ee96bd165fef90c8 |  4 ++++
 .hypothesis/constants/f4b00379332735e4 |  4 ++++
 .hypothesis/constants/fb5962afdadd1bb2 |  4 ++++
 .hypothesis/constants/fe3a9f8d18a3c519 |  4 ++++
 .pre-commit-config.yaml                |  6 ------
 pyrightconfig.json                     | 28 --------------------------
 45 files changed, 170 insertions(+), 36 deletions(-)
 create mode 100644 .hypothesis/constants/02005bbee7a55682
 create mode 100644 .hypothesis/constants/0492fa827a712490
 create mode 100644 .hypothesis/constants/083f90f19173eb03
 create mode 100644 .hypothesis/constants/175cb1e399cd569f
 create mode 100644 .hypothesis/constants/2e7bc01e0a044593
 create mode 100644 .hypothesis/constants/2ffb07639a936418
 create mode 100644 .hypothesis/constants/3c84b7ef2d5ddda9
 create mode 100644 .hypothesis/constants/418565b875cdd235
 create mode 100644 .hypothesis/constants/4b0ed83cb2a4b310
 create mode 100644 .hypothesis/constants/50e6632f7779f0dd
 create mode 100644 .hypothesis/constants/55cb452dfba91cd6
 create mode 100644 .hypothesis/constants/596d4b4dc37bea3a
 create mode 100644 .hypothesis/constants/5bd1beac0033b3f0
 create mode 100644 .hypothesis/constants/5dd0f508c9deb2ca
 create mode 100644 .hypothesis/constants/67b0a8ccf18bf5d2
 create mode 100644 .hypothesis/constants/68b87af3e5b1443b
 create mode 100644 .hypothesis/constants/6eccbc7c7c86ed9f
 create mode 100644 .hypothesis/constants/725df3bef4f0efd7
 create mode 100644 .hypothesis/constants/73f7d716b737145e
 create mode 100644 .hypothesis/constants/74047c20b20e757e
 create mode 100644 .hypothesis/constants/78f449a91e3989d1
 create mode 100644 .hypothesis/constants/80c204e383a6d5c2
 create mode 100644 .hypothesis/constants/8137754e30d0d627
 create mode 100644 .hypothesis/constants/8155ea1da0741a5f
 create mode 100644 .hypothesis/constants/855973b5c573e470
 create mode 100644 .hypothesis/constants/866b3a494693c123
 create mode 100644 .hypothesis/constants/87191149bd003c9e
 create mode 100644 .hypothesis/constants/8906636283fe30de
 create mode 100644 .hypothesis/constants/9a32e3db148973f4
 create mode 100644 .hypothesis/constants/9d29fe15eb30f74d
 create mode 100644 .hypothesis/constants/a881ce0feea8a5f2
 create mode 100644 .hypothesis/constants/bf05c3581d48aa7d
 create mode 100644 .hypothesis/constants/ca43b7530ec90117
 create mode 100644 .hypothesis/constants/d21de301a5c2e1a9
 create mode 100644 .hypothesis/constants/d2b72496fefbd262
 create mode 100644 .hypothesis/constants/d358933f98502578
 create mode 100644 .hypothesis/constants/e83040be8789bdbe
 create mode 100644 .hypothesis/constants/ea7838945e1cd5cf
 create mode 100644 .hypothesis/constants/ee96bd165fef90c8
 create mode 100644 .hypothesis/constants/f4b00379332735e4
 create mode 100644 .hypothesis/constants/fb5962afdadd1bb2
 create mode 100644 .hypothesis/constants/fe3a9f8d18a3c519
 delete mode 100644 pyrightconfig.json

diff --git a/.github/workflows/test-coverage.yml b/.github/workflows/test-coverage.yml
index dc78e9f..1aa87ab 100644
--- a/.github/workflows/test-coverage.yml
+++ b/.github/workflows/test-coverage.yml
@@ -104,8 +104,8 @@ jobs:
           pip install uv
           uv pip install -e ".[dev]" --system
 
-      - name: Run type checking with pyright
-        run: pyright
+      - name: Run type checking with ty
+        run: uv run ty check
         continue-on-error: true
 
       - name: Check code style with ruff
diff --git a/.hypothesis/constants/02005bbee7a55682 b/.hypothesis/constants/02005bbee7a55682
new file mode 100644
index 0000000..cf309a4
--- /dev/null
+++ b/.hypothesis/constants/02005bbee7a55682
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/gh/__init__.py
+# hypothesis_version: 6.141.1
+
+['gh_filter']
diff --git a/.hypothesis/constants/0492fa827a712490 b/.hypothesis/constants/0492fa827a712490
new file mode 100644
index 0000000..2cd961b
--- /dev/null
+++ b/.hypothesis/constants/0492fa827a712490
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/EKF.py
+# hypothesis_version: 6.141.1
+
+['F', 'K', 'KalmanFilter object', 'P', 'P_prior', 'Q', 'R', 'S', 'likelihood', 'log-likelihood', 'mahalanobis', 'x', 'x_prior', 'y']
diff --git a/.hypothesis/constants/083f90f19173eb03 b/.hypothesis/constants/083f90f19173eb03
new file mode 100644
index 0000000..def65f1
--- /dev/null
+++ b/.hypothesis/constants/083f90f19173eb03
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/discrete_bayes/discrete_bayes.py
+# hypothesis_version: 6.141.1
+
+[0.0, 'constant', 'wrap']
diff --git a/.hypothesis/constants/175cb1e399cd569f b/.hypothesis/constants/175cb1e399cd569f
new file mode 100644
index 0000000..9e2e23d
--- /dev/null
+++ b/.hypothesis/constants/175cb1e399cd569f
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/stats/stats.py
+# hypothesis_version: 6.141.1
+
+[-0.5, 0.0, 0.001, 0.1, 0.5, 0.999, 1.0, 2.0, 1000.0, 111, '#004080', '+', '3d', 'X', 'Y', 'Z', 'equal', 'none', 'solid']
diff --git a/.hypothesis/constants/2e7bc01e0a044593 b/.hypothesis/constants/2e7bc01e0a044593
new file mode 100644
index 0000000..eb84b06
--- /dev/null
+++ b/.hypothesis/constants/2e7bc01e0a044593
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/UKF.py
+# hypothesis_version: 6.141.1
+
+['K', 'P', 'P_prior', 'Q', 'R', 'S', 'Wc', 'Wm', 'fx', 'h', 'hx', 'likelihood', 'log-likelihood', 'mahalanobis', 'msqrt', 'residual_x', 'residual_z', 'sigmas_f', 'x', 'x_mean', 'x_prior', 'y', 'z_mean', 'zs must be list-like']
diff --git a/.hypothesis/constants/2ffb07639a936418 b/.hypothesis/constants/2ffb07639a936418
new file mode 100644
index 0000000..75d00ab
--- /dev/null
+++ b/.hypothesis/constants/2ffb07639a936418
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/__init__.py
+# hypothesis_version: 6.141.1
+
+[]
diff --git a/.hypothesis/constants/3c84b7ef2d5ddda9 b/.hypothesis/constants/3c84b7ef2d5ddda9
new file mode 100644
index 0000000..c2cf345
--- /dev/null
+++ b/.hypothesis/constants/3c84b7ef2d5ddda9
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/information_filter.py
+# hypothesis_version: 6.141.1
+
+[0.0, 'B', 'F', 'H', 'K', 'P_inv', 'P_inv_prior', 'Q', 'R_inv', 'S', '_F_inv', 'dim_u', 'dim_x', 'dim_z', 'inv', 'likelihood', 'log-likelihood', 'mahalanobis', 'x', 'x_prior', 'y', 'z']
diff --git a/.hypothesis/constants/418565b875cdd235 b/.hypothesis/constants/418565b875cdd235
new file mode 100644
index 0000000..4041b95
--- /dev/null
+++ b/.hypothesis/constants/418565b875cdd235
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/memory/__init__.py
+# hypothesis_version: 6.141.1
+
+['fading_memory']
diff --git a/.hypothesis/constants/4b0ed83cb2a4b310 b/.hypothesis/constants/4b0ed83cb2a4b310
new file mode 100644
index 0000000..f13bcaf
--- /dev/null
+++ b/.hypothesis/constants/4b0ed83cb2a4b310
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/common/kinematic.py
+# hypothesis_version: 6.141.1
+
+[0.0, 0.5, 1.0, 'dim must be >= 1', 'dim_z must be >= 1', 'order must be >= 0']
diff --git a/.hypothesis/constants/50e6632f7779f0dd b/.hypothesis/constants/50e6632f7779f0dd
new file mode 100644
index 0000000..71d256c
--- /dev/null
+++ b/.hypothesis/constants/50e6632f7779f0dd
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/sigma_points.py
+# hypothesis_version: 6.141.1
+
+[0.0, 0.5, 1.0, 'Wc', 'Wm', 'alpha', 'beta', 'kappa', 'n', 'sqrt', 'subtract']
diff --git a/.hypothesis/constants/55cb452dfba91cd6 b/.hypothesis/constants/55cb452dfba91cd6
new file mode 100644
index 0000000..14f3659
--- /dev/null
+++ b/.hypothesis/constants/55cb452dfba91cd6
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/IMM.py
+# hypothesis_version: 6.141.1
+
+['IMMEstimator object', 'M', 'N', 'P', 'P_post', 'P_prior', 'cbar', 'likelihood', 'mu', 'omega', 'x', 'x_post', 'x_prior']
diff --git a/.hypothesis/constants/596d4b4dc37bea3a b/.hypothesis/constants/596d4b4dc37bea3a
new file mode 100644
index 0000000..e057be0
--- /dev/null
+++ b/.hypothesis/constants/596d4b4dc37bea3a
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/leastsq/__init__.py
+# hypothesis_version: 6.141.1
+
+['least_squares']
diff --git a/.hypothesis/constants/5bd1beac0033b3f0 b/.hypothesis/constants/5bd1beac0033b3f0
new file mode 100644
index 0000000..8dd722b
--- /dev/null
+++ b/.hypothesis/constants/5bd1beac0033b3f0
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/testing_utils/fixtures.py
+# hypothesis_version: 6.141.1
+
+[0.0, 1e-10, 0.1, 1.0, 2.0, 10.0, 100.0]
diff --git a/.hypothesis/constants/5dd0f508c9deb2ca b/.hypothesis/constants/5dd0f508c9deb2ca
new file mode 100644
index 0000000..7d795a1
--- /dev/null
+++ b/.hypothesis/constants/5dd0f508c9deb2ca
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/ensemble_kalman_filter.py
+# hypothesis_version: 6.141.1
+
+['K', 'P', 'P_prior', 'Q', 'R', 'S', 'dim_x', 'dim_z', 'dt', 'fx', 'hx', 'sigmas', 'x', 'x must be a 1D array', 'x_prior']
diff --git a/.hypothesis/constants/67b0a8ccf18bf5d2 b/.hypothesis/constants/67b0a8ccf18bf5d2
new file mode 100644
index 0000000..2083612
--- /dev/null
+++ b/.hypothesis/constants/67b0a8ccf18bf5d2
@@ -0,0 +1,4 @@
+# file: /usr/lib/python3.9/sitecustomize.py
+# hypothesis_version: 6.141.1
+
+[]
diff --git a/.hypothesis/constants/68b87af3e5b1443b b/.hypothesis/constants/68b87af3e5b1443b
new file mode 100644
index 0000000..1af5872
--- /dev/null
+++ b/.hypothesis/constants/68b87af3e5b1443b
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/common/helpers.py
+# hypothesis_version: 6.141.1
+
+[0.5, 1.0, 6.0, ' = ', ' object\n', '.T', '[', ']', '_', '__', 'function', 'ij,ik->ijk', 'is different', 'method']
diff --git a/.hypothesis/constants/6eccbc7c7c86ed9f b/.hypothesis/constants/6eccbc7c7c86ed9f
new file mode 100644
index 0000000..9526946
--- /dev/null
+++ b/.hypothesis/constants/6eccbc7c7c86ed9f
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/common/__init__.py
+# hypothesis_version: 6.141.1
+
+['discretization', 'helpers', 'kinematic']
diff --git a/.hypothesis/constants/725df3bef4f0efd7 b/.hypothesis/constants/725df3bef4f0efd7
new file mode 100644
index 0000000..db4cda4
--- /dev/null
+++ b/.hypothesis/constants/725df3bef4f0efd7
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/testing_utils/numerical.py
+# hypothesis_version: 6.141.1
+
+[0.0, 0.5, 1.0]
diff --git a/.hypothesis/constants/73f7d716b737145e b/.hypothesis/constants/73f7d716b737145e
new file mode 100644
index 0000000..0099486
--- /dev/null
+++ b/.hypothesis/constants/73f7d716b737145e
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/hinfinity/hinfinity_filter.py
+# hypothesis_version: 6.141.1
+
+['F', 'K', 'P', 'Q', 'V', 'W', 'dim_u', 'dim_x', 'dim_z', 'gamma', 'x', 'y']
diff --git a/.hypothesis/constants/74047c20b20e757e b/.hypothesis/constants/74047c20b20e757e
new file mode 100644
index 0000000..c7b4815
--- /dev/null
+++ b/.hypothesis/constants/74047c20b20e757e
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/CubatureKalmanFilter.py
+# hypothesis_version: 6.141.1
+
+['K', 'P', 'Q', 'R', 'dim_x', 'dim_z', 'dt', 'likelihood', 'log-likelihood', 'mahalanobis', 'x', 'y']
diff --git a/.hypothesis/constants/78f449a91e3989d1 b/.hypothesis/constants/78f449a91e3989d1
new file mode 100644
index 0000000..41754b8
--- /dev/null
+++ b/.hypothesis/constants/78f449a91e3989d1
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/fading_memory.py
+# hypothesis_version: 6.141.1
+
+[0.0, 'B', 'F', 'H', 'K', 'P', 'Q', 'R', 'S', 'alpha', 'dim_u', 'dim_x', 'dim_z', 'likelihood', 'log-likelihood', 'mahalanobis', 'x', 'y']
diff --git a/.hypothesis/constants/80c204e383a6d5c2 b/.hypothesis/constants/80c204e383a6d5c2
new file mode 100644
index 0000000..742aeb9
--- /dev/null
+++ b/.hypothesis/constants/80c204e383a6d5c2
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/monte_carlo/resampling.py
+# hypothesis_version: 6.141.1
+
+[1.0, 'i']
diff --git a/.hypothesis/constants/8137754e30d0d627 b/.hypothesis/constants/8137754e30d0d627
new file mode 100644
index 0000000..424a44a
--- /dev/null
+++ b/.hypothesis/constants/8137754e30d0d627
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/testing_utils/helpers.py
+# hypothesis_version: 6.141.1
+
+[0.0, 1e-15, 1e-08, 1e-05, 0.05, 0.1, 1000000.0, 10000000000.0, 'Matrix', 'ignore']
diff --git a/.hypothesis/constants/8155ea1da0741a5f b/.hypothesis/constants/8155ea1da0741a5f
new file mode 100644
index 0000000..9f93610
--- /dev/null
+++ b/.hypothesis/constants/8155ea1da0741a5f
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/monte_carlo/__init__.py
+# hypothesis_version: 6.141.1
+
+['resampling']
diff --git a/.hypothesis/constants/855973b5c573e470 b/.hypothesis/constants/855973b5c573e470
new file mode 100644
index 0000000..01a39c5
--- /dev/null
+++ b/.hypothesis/constants/855973b5c573e470
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/testing_utils/__init__.py
+# hypothesis_version: 6.141.1
+
+['assert_filter_stable', 'assert_matrix_psd', 'ekf_2d', 'kf_1d', 'kf_2d', 'noisy_measurements', 'sensor_sim', 'ukf_3d']
diff --git a/.hypothesis/constants/866b3a494693c123 b/.hypothesis/constants/866b3a494693c123
new file mode 100644
index 0000000..1879cba
--- /dev/null
+++ b/.hypothesis/constants/866b3a494693c123
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/square_root.py
+# hypothesis_version: 6.141.1
+
+[0.0, 'B', 'F', 'H', 'K', 'M', 'P', 'Q', 'R', 'S', 'SI', 'dim_u', 'dim_x', 'dim_z', 'x', 'y']
diff --git a/.hypothesis/constants/87191149bd003c9e b/.hypothesis/constants/87191149bd003c9e
new file mode 100644
index 0000000..4a940f7
--- /dev/null
+++ b/.hypothesis/constants/87191149bd003c9e
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/mmae.py
+# hypothesis_version: 6.141.1
+
+['P', 'dim_x', 'dim_x must be >= 1', 'log-p', 'x']
diff --git a/.hypothesis/constants/8906636283fe30de b/.hypothesis/constants/8906636283fe30de
new file mode 100644
index 0000000..f3d0412
--- /dev/null
+++ b/.hypothesis/constants/8906636283fe30de
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/discrete_bayes/__init__.py
+# hypothesis_version: 6.141.1
+
+['discrete_bayes']
diff --git a/.hypothesis/constants/9a32e3db148973f4 b/.hypothesis/constants/9a32e3db148973f4
new file mode 100644
index 0000000..028db4e
--- /dev/null
+++ b/.hypothesis/constants/9a32e3db148973f4
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/stats/__init__.py
+# hypothesis_version: 6.141.1
+
+[]
diff --git a/.hypothesis/constants/9d29fe15eb30f74d b/.hypothesis/constants/9d29fe15eb30f74d
new file mode 100644
index 0000000..8ccf1b8
--- /dev/null
+++ b/.hypothesis/constants/9d29fe15eb30f74d
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/conftest.py
+# hypothesis_version: 6.141.1
+
+['benchmark', 'markers', 'property', 'pytest_benchmark']
diff --git a/.hypothesis/constants/a881ce0feea8a5f2 b/.hypothesis/constants/a881ce0feea8a5f2
new file mode 100644
index 0000000..fb62a0c
--- /dev/null
+++ b/.hypothesis/constants/a881ce0feea8a5f2
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/gh/gh_filter.py
+# hypothesis_version: 6.141.1
+
+[0.0, 0.5, 0.8, 1.0, 1.5, 2.0, 'GHFilter object', 'GHFilterOrder object', 'ddx', 'ddx_prediction', 'dt', 'dx', 'dx_prediction', 'g', 'h', 'k', 'order', 'x', 'x_prediction', 'y', 'z']
diff --git a/.hypothesis/constants/bf05c3581d48aa7d b/.hypothesis/constants/bf05c3581d48aa7d
new file mode 100644
index 0000000..6af9d51
--- /dev/null
+++ b/.hypothesis/constants/bf05c3581d48aa7d
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/hinfinity/__init__.py
+# hypothesis_version: 6.141.1
+
+['hinfinity_filter']
diff --git a/.hypothesis/constants/ca43b7530ec90117 b/.hypothesis/constants/ca43b7530ec90117
new file mode 100644
index 0000000..4a0944e
--- /dev/null
+++ b/.hypothesis/constants/ca43b7530ec90117
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/kalman_filter.py
+# hypothesis_version: 6.141.1
+
+[0.0, 0.5, 1.0, 'B', 'F', 'H', 'K', 'KalmanFilter object', 'M', 'P', 'P_post', 'P_prior', 'Q', 'R', 'S', 'SI', 'alpha', 'dim_u', 'dim_x', 'dim_z', 'inv', 'likelihood', 'log-likelihood', 'mahalanobis', 'x', 'x_post', 'x_prior', 'y', 'z']
diff --git a/.hypothesis/constants/d21de301a5c2e1a9 b/.hypothesis/constants/d21de301a5c2e1a9
new file mode 100644
index 0000000..4388a64
--- /dev/null
+++ b/.hypothesis/constants/d21de301a5c2e1a9
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/common/discretization.py
+# hypothesis_version: 6.141.1
+
+[0.25, 0.5, 1.0, 2.0, 3.0, 6.0, 8.0, 20.0, 24.0, 30.0, 72.0, 252.0]
diff --git a/.hypothesis/constants/d2b72496fefbd262 b/.hypothesis/constants/d2b72496fefbd262
new file mode 100644
index 0000000..812e591
--- /dev/null
+++ b/.hypothesis/constants/d2b72496fefbd262
@@ -0,0 +1,4 @@
+# file: /usr/lib/python3/dist-packages/six.py
+# hypothesis_version: 6.141.1
+
+['.', '.moves', '.moves.urllib', '.moves.urllib.error', '.moves.urllib_error', '.moves.urllib_parse', '1.16.0', '>B', 'BaseHTTPServer', 'BaseHandler', 'Byte literal', 'CGIHTTPServer', 'CacheFTPHandler', 'ConfigParser', 'ContentTooShortError', 'Cookie', 'Dialog', 'FTPHandler', 'FancyURLopener', 'FileDialog', 'FileHandler', 'HTMLParser', 'HTTPBasicAuthHandler', 'HTTPCookieProcessor', 'HTTPError', 'HTTPErrorProcessor', 'HTTPHandler', 'HTTPPasswordMgr', 'HTTPRedirectHandler', 'HTTPSHandler', 'OpenerDirector', 'ParseResult', 'ProxyHandler', 'Queue', 'Request', 'RobotFileParser', 'ScrolledText', 'SimpleDialog', 'SimpleHTTPServer', 'SimpleXMLRPCServer', 'SocketServer', 'SplitResult', 'StringIO', 'Text literal', 'Tix', 'Tkconstants', 'Tkdnd', 'Tkinter', 'URLError', 'URLopener', 'UnknownHandler', 'UserDict', 'UserList', 'UserString', '\\\\', '\\\\\\\\', '_SixMetaPathImporter', '__builtin__', '__call__', '__closure__', '__code__', '__defaults__', '__dict__', '__doc__', '__func__', '__globals__', '__name__', '__orig_bases__', '__path__', '__qualname__', '__self__', '__slots__', '__spec__', '__str__', '__weakref__', '_dummy_thread', '_thread', '_winreg', 'addbase', 'addclosehook', 'addinfo', 'addinfourl', 'assertCountEqual', 'assertItemsEqual', 'assertNotRegex', 'assertRaisesRegex', 'assertRaisesRegexp', 'assertRegex', 'assertRegexpMatches', 'build_opener', 'builtins', 'cPickle', 'cStringIO', 'collections', 'collections.abc', 'collections_abc', 'commands', 'configparser', 'cookielib', 'copy_reg', 'copyreg', 'dbm', 'dbm.gnu', 'dbm.ndbm', 'dbm_gnu', 'dbm_ndbm', 'dummy_thread', 'email.MIMEBase', 'email.MIMEImage', 'email.MIMEMultipart', 'email.MIMEText', 'email.mime.base', 'email.mime.image', 'email.mime.multipart', 'email.mime.text', 'email_mime_base', 'email_mime_image', 'email_mime_multipart', 'email_mime_text', 'end', 'error', 'errors', 'exec', 'file', 'filter', 'filterfalse', 'flush', 'func_closure', 'func_code', 'func_defaults', 'func_globals', 'functools', 'gdbm', 'getcwd', 'getcwdb', 'getcwdu', 'getoutput', 'getproxies', 'html.entities', 'html.parser', 'html_entities', 'html_parser', 'htmlentitydefs', 'http.client', 'http.cookiejar', 'http.cookies', 'http.server', 'http_client', 'http_cookiejar', 'http_cookies', 'httplib', 'ifilter', 'ifilterfalse', 'im_func', 'im_self', 'imap', 'imp', 'importlib', 'input', 'install_opener', 'intern', 'io', 'items', 'itertools', 'izip', 'izip_longest', 'java', 'keys', 'latin-1', 'map', 'moves', 'moves.', 'moves.urllib', 'moves.urllib.error', 'moves.urllib.parse', 'moves.urllib.request', 'moves.urllib_error', 'moves.urllib_parse', 'moves.urllib_request', 'no such move, %r', 'os', 'parse', 'parse_http_list', 'parse_keqv_list', 'parse_qs', 'parse_qsl', 'pathname2url', 'pickle', 'pipes', 'print', 'proxy_bypass', 'queue', 'quote', 'quote_plus', 'range', 'raw_input', 'reduce', 'reload', 'reload_module', 'repr', 'reprlib', 'request', 'response', 'robotparser', 'sep', 'shlex', 'shlex_quote', 'socketserver', 'splitquery', 'splittag', 'splituser', 'splitvalue', 'strict', 'subprocess', 'sys', 'temporary_class', 'thread', 'tkColorChooser', 'tkCommonDialog', 'tkFileDialog', 'tkFont', 'tkMessageBox', 'tkSimpleDialog', 'tkinter', 'tkinter.colorchooser', 'tkinter.commondialog', 'tkinter.constants', 'tkinter.dialog', 'tkinter.dnd', 'tkinter.filedialog', 'tkinter.font', 'tkinter.messagebox', 'tkinter.scrolledtext', 'tkinter.simpledialog', 'tkinter.tix', 'tkinter.ttk', 'tkinter_colorchooser', 'tkinter_commondialog', 'tkinter_constants', 'tkinter_dialog', 'tkinter_dnd', 'tkinter_filedialog', 'tkinter_font', 'tkinter_messagebox', 'tkinter_scrolledtext', 'tkinter_simpledialog', 'tkinter_tix', 'tkinter_tkfiledialog', 'tkinter_ttk', 'ttk', 'unicode_escape', 'unquote', 'unquote_plus', 'unquote_to_bytes', 'url2pathname', 'urlcleanup', 'urldefrag', 'urlencode', 'urljoin', 'urllib', 'urllib.error', 'urllib.parse', 'urllib.request', 'urllib.response', 'urllib.robotparser', 'urllib2', 'urllib_error', 'urllib_parse', 'urllib_robotparser', 'urlopen', 'urlparse', 'urlretrieve', 'urlsplit', 'urlunparse', 'urlunsplit', 'uses_fragment', 'uses_netloc', 'uses_params', 'uses_query', 'uses_relative', 'utf-8', 'values', 'viewitems', 'viewkeys', 'viewvalues', 'win32', 'winreg', 'xmlrpc.client', 'xmlrpc.server', 'xmlrpc_client', 'xmlrpc_server', 'xmlrpclib', 'xrange', 'zip', 'zip_longest']
diff --git a/.hypothesis/constants/d358933f98502578 b/.hypothesis/constants/d358933f98502578
new file mode 100644
index 0000000..cf2942b
--- /dev/null
+++ b/.hypothesis/constants/d358933f98502578
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/leastsq/least_squares.py
+# hypothesis_version: 6.141.1
+
+[0.0, 0.5, 1.0, 2.0, 3.0, 6.0, 12.0, 18.0, 60.0, 720, 'K', '_order', 'dt', 'sigma', 'x']
diff --git a/.hypothesis/constants/e83040be8789bdbe b/.hypothesis/constants/e83040be8789bdbe
new file mode 100644
index 0000000..31aadef
--- /dev/null
+++ b/.hypothesis/constants/e83040be8789bdbe
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/unscented_transform.py
+# hypothesis_version: 6.141.1
+
+[]
diff --git a/.hypothesis/constants/ea7838945e1cd5cf b/.hypothesis/constants/ea7838945e1cd5cf
new file mode 100644
index 0000000..5959339
--- /dev/null
+++ b/.hypothesis/constants/ea7838945e1cd5cf
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/kalman/fixed_lag_smoother.py
+# hypothesis_version: 6.141.1
+
+[0.0, 'B', 'F', 'H', 'K', 'N', 'P', 'Q', 'R', 'S', 'dim_x', 'dim_z', 'x', 'x_s', 'y']
diff --git a/.hypothesis/constants/ee96bd165fef90c8 b/.hypothesis/constants/ee96bd165fef90c8
new file mode 100644
index 0000000..b3ebff6
--- /dev/null
+++ b/.hypothesis/constants/ee96bd165fef90c8
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/__init__.py
+# hypothesis_version: 6.141.1
+
+['1.4.5', 'common', 'discrete_bayes', 'gh', 'hinfinity', 'kalman', 'leastsq', 'memory', 'monte_carlo', 'stats']
diff --git a/.hypothesis/constants/f4b00379332735e4 b/.hypothesis/constants/f4b00379332735e4
new file mode 100644
index 0000000..c7cdd59
--- /dev/null
+++ b/.hypothesis/constants/f4b00379332735e4
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/examples/__init__.py
+# hypothesis_version: 6.141.1
+
+['radar_sim']
diff --git a/.hypothesis/constants/fb5962afdadd1bb2 b/.hypothesis/constants/fb5962afdadd1bb2
new file mode 100644
index 0000000..8bd6038
--- /dev/null
+++ b/.hypothesis/constants/fb5962afdadd1bb2
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/examples/radar_sim.py
+# hypothesis_version: 6.141.1
+
+[0.0, 0.05, 0.5, 100.0, 1000.0]
diff --git a/.hypothesis/constants/fe3a9f8d18a3c519 b/.hypothesis/constants/fe3a9f8d18a3c519
new file mode 100644
index 0000000..68199d5
--- /dev/null
+++ b/.hypothesis/constants/fe3a9f8d18a3c519
@@ -0,0 +1,4 @@
+# file: /home/georgepearse/bayesian_filters_worktrees/remove-pyright/bayesian_filters/memory/fading_memory.py
+# hypothesis_version: 6.141.1
+
+[0.5, 1.5, 2.0, 'P', 'beta', 'dt', 'e', 'order', 'x']
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 7ff7217..1ed461d 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,12 +33,6 @@ repos:
     hooks:
       - id: nbstripout
 
-  - repo: https://github.com/RobertCraigie/pyright-python
-    rev: v1.1.405
-    hooks:
-      - id: pyright
-        exclude: ^scripts/
-
   # Documentation link checker
   - repo: https://github.com/tcort/markdown-link-check
     rev: v3.12.2
diff --git a/pyrightconfig.json b/pyrightconfig.json
deleted file mode 100644
index e4f8295..0000000
--- a/pyrightconfig.json
+++ /dev/null
@@ -1,28 +0,0 @@
-{
-  "venvPath": ".",
-  "venv": ".venv",
-  "exclude": [
-    "**/__pycache__",
-    ".git",
-    "**/tests/**",
-    "**/examples/**",
-    "**/docs/**"
-  ],
-  "reportMissingImports": "none",
-  "reportAttributeAccessIssue": "none",
-  "reportOptionalMemberAccess": "none",
-  "reportOptionalSubscript": "none",
-  "reportOptionalCall": "warning",
-  "reportIndexIssue": "warning",
-  "reportGeneralTypeIssues": "warning",
-  "reportArgumentType": "warning",
-  "reportAssignmentType": "warning",
-  "reportCallIssue": "warning",
-  "reportFunctionMemberAccess": "none",
-  "reportOperatorIssue": "warning",
-  "reportPossiblyUnboundVariable": "warning",
-  "reportUndefinedVariable": "warning",
-  "reportInvalidStringEscapeSequence": "warning",
-  "reportUnusedExpression": "none",
-  "reportMissingModuleSource": "none"
-}