fixes lints for additional flake8 plugins

.flake8

@@ -2,7 +2,16 @@
 show-source=True
 statistics=True
 per-file-ignores=*/__init__.py:F401
-ignore=E402,E501,W503,E203
+# E402: Module level import not at top of file
+# E501: Line too long
+# W503: Line break before binary operator
+# E203: Whitespace before ':' -> conflicts with black
+# D401: First line should be in imperative mood
+# R504: Unnecessary variable assignment before return statement.
+# R505: Unnecessary elif after return statement
+# SIM102: Use a single if-statement instead of nested if-statements
+# SIM117: Merge with statements for context managers that have same scope.
+ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117
 max-line-length = 120
 max-complexity = 30
-exclude=_*,.vscode,.git
+exclude=_*,.vscode,.git,docs/**,**/test/**

.pre-commit-config.yaml

 repos:
   - repo: https://github.com/python/black
-    rev: 22.10.0
+    rev: 22.12.0
     hooks:
       - id: black
         args: ["--line-length", "120"]
@@ -8,30 +8,36 @@ repos:
     rev: 6.0.0
     hooks:
       - id: flake8
+        additional_dependencies: [flake8-simplify, flake8-return]
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.4.0
     hooks:
       - id: trailing-whitespace
+      - id: check-symlinks
+      - id: destroyed-symlinks
       - id: check-yaml
       - id: check-merge-conflict
       - id: check-case-conflict
       - id: check-executables-have-shebangs
       - id: check-toml
       - id: end-of-file-fixer
+      - id: check-shebang-scripts-are-executable
+      - id: detect-private-key
+      - id: debug-statements
   - repo: https://github.com/pycqa/isort
-    rev: 5.10.1
+    rev: 5.11.4
     hooks:
       - id: isort
         name: isort (python)
         args: ["--profile", "black", "--filter-files"]
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.3.0
+    rev: v3.3.1
     hooks:
       - id: pyupgrade
         args: ["--py37-plus"]
   # FIXME: Figure out why this is getting stuck under VPN.
   # - repo: https://github.com/RobertCraigie/pyright-python
-  #   rev: v1.1.282
+  #   rev: v1.1.291
   #   hooks:
   #   - id: pyright
   # Note: We disable this by default since not all code is compatible with it.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/config/anydrive.py

@@ -3,8 +3,16 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Configuration instances of actuation models for ANYmal robot.
+"""Configuration instances of actuation models for ANYmal robot.
+
+The following actuator models are available:
+
+* ANYdrive 3.x with DC actuator model.
+* ANYdrive 3.0 (used on ANYmal-C) with LSTM actuator model.
+
+The following actuator groups are available:
+
+* ANYmal-C default actuator group that uses ANYdrive 3.0 with LSTM actuator model.
 """
 
 from omni.isaac.orbit.actuators.group import ActuatorControlCfg, ActuatorGroupCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/group/actuator_group.py

@@ -16,16 +16,17 @@ from omni.isaac.orbit.actuators.model import DCMotor, IdealActuator, ImplicitAct
 
 
 class ActuatorGroup:
-    """
+    """A class for applying actuator models over a collection of actuated joints in an articulation.
+
     The default actuator group for applying the same actuator model over a collection of actuated joints in
-    an articulation.
+    an articulation. It is possible to specify multiple joint-level command types (position, velocity or
+    torque control).
 
     The joint names are specified in the configuration through a list of regular expressions. The regular
     expressions are matched against the joint names in the articulation. The first match is used to determine
     the joint indices in the articulation.
 
-    It is possible to specify multiple joint-level command types (position, velocity or torque control). The
-    command types are applied in the order they are specified in the configuration. For each command, the
+    The command types are applied in the order they are specified in the configuration. For each command, the
     scaling and offset can be configured through the :class:`ActuatorControlCfg` class.
 
     In the default actuator group, no constraints or formatting is performed over the input actions. Thus, the
@@ -135,7 +136,7 @@ class ActuatorGroup:
 
     def __str__(self) -> str:
         """A string representation of the actuator group."""
-        msg = (
+        return (
             "<class ActuatorGroup> object:\n"
             f"\tNumber of DOFs: {self.num_actuators}\n"
             f"\tDOF names     : {self.dof_names}\n"
@@ -145,7 +146,6 @@ class ActuatorGroup:
             f"\tControl mode  : {self.control_mode}\n"
             f"\tControl dim   : {self.control_dim}"
         )
-        return msg
 
     """
     Properties- Group.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/group/gripper_group.py

@@ -17,7 +17,7 @@ class GripperActuatorGroup(ActuatorGroup):
     """
     A mimicking actuator group to format a binary open/close command into the joint commands.
 
-    The input actions are processed as a scalar which sign determines whethter to open or close the gripper.
+    The input actions are processed as a scalar which sign determines whether to open or close the gripper.
     We consider the following convention:
 
     1. Positive value (> 0): open command
@@ -25,7 +25,7 @@ class GripperActuatorGroup(ActuatorGroup):
 
     The mimicking actuator group has only two valid command types: absolute positions (``"p_abs"``) or absolute
     velocity (``"v_abs"``). Based on the chosen command type, the joint commands are computed by multiplying the
-    reference command with the mimicking multipler.
+    reference command with the mimicking multiplier.
 
     * **position mode:** The reference command is resolved as the joint position target for opening or closing the
       gripper. These targets are read from the :class:`GripperActuatorGroupCfg` class.
@@ -74,6 +74,7 @@ class GripperActuatorGroup(ActuatorGroup):
         self._previous_dof_targets = torch.zeros(self.num_articulation, self.num_actuators, device=self.device)
 
     def __str__(self) -> str:
+        """String representation of the actuator group."""
         msg = super().__str__() + "\n"
         msg = msg.replace("ActuatorGroup", "GripperActuatorGroup")
         msg += (

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/group/non_holonomic_group.py

@@ -14,7 +14,7 @@ from .actuator_group_cfg import NonHolonomicKinematicsGroupCfg
 
 
 class NonHolonomicKinematicsGroup(ActuatorGroup):
-    """
+    r"""
     An actuator group that formulates the 2D-base constraint for vehicle kinematics control.
 
     In simulation, it is easier to consider the mobile base as a floating link controlled by three dummy joints

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/model/actuator_physics.py

@@ -20,7 +20,7 @@ from .actuator_cfg import DCMotorCfg, IdealActuatorCfg, VariableGearRatioDCMotor
 
 
 class IdealActuator:
-    """Ideal torque-controlled actuator model with a simple saturation model.
+    r"""Ideal torque-controlled actuator model with a simple saturation model.
 
     It employs the following model for computing torques for the actuated joint :math:`j`:
 
@@ -172,7 +172,7 @@ class IdealActuator:
 
 
 class DCMotor(IdealActuator):
-    """
+    r"""
     Direct control (DC) motor actuator model with velocity-based saturation model.
 
     It uses the same model as the :class:`IdealActuator` for computing the torques from input commands.
@@ -253,7 +253,7 @@ class DCMotor(IdealActuator):
 
 
 class VariableGearRatioDCMotor(DCMotor):
-    """Torque-controlled actuator with variable gear-ratio based saturation model.
+    r"""Torque-controlled actuator with variable gear-ratio based saturation model.
 
     Instead of using a fixed gear box, some motors are equiped with variators that allow the gear-ratio
     to be changed continuously (instead of steps). This model implements a DC motor with a variable

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/differential_inverse_kinematics.py

@@ -81,6 +81,17 @@ class DifferentialInverseKinematics:
     """Default parameters for different inverse kinematics approaches."""
 
     def __init__(self, cfg: DifferentialInverseKinematicsCfg, num_robots: int, device: str):
+        """Initialize the controller.
+
+        Args:
+            cfg (DifferentialInverseKinematicsCfg): The configuration for the controller.
+            num_robots (int): The number of robots to control.
+            device (str): The device to use for computations.
+
+        Raises:
+            ValueError: When configured IK-method is not supported.
+            ValueError: When configured command type is not supported.
+        """
         # store inputs
         self.cfg = cfg
         self.num_robots = num_robots

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/joint_impedance.py

@@ -64,6 +64,18 @@ class JointImpedanceController:
     """
 
     def __init__(self, cfg: JointImpedanceControllerCfg, num_robots: int, dof_pos_limits: torch.Tensor, device: str):
+        """Initialize joint impedance controller.
+
+        Args:
+            cfg (JointImpedanceControllerCfg): The configuration for the controller.
+            num_robots (int): The number of robots to control.
+            dof_pos_limits (torch.Tensor): The joint position limits for each robot. This is a tensor of shape
+                (num_robots, num_dof, 2) where the last dimension contains the lower and upper limits.
+            device (str): The device to use for computations.
+
+        Raises:
+            ValueError: When the shape of :obj:`dof_pos_limits` is not (num_robots, num_dof, 2).
+        """
         # check valid inputs
         if len(dof_pos_limits.shape) != 3:
             raise ValueError(f"Joint position limits has shape '{dof_pos_limits.shape}'. Expected length of shape = 3.")
@@ -127,7 +139,12 @@ class JointImpedanceController:
         pass
 
     def set_command(self, command: torch.Tensor):
-        """Set target end-effector pose command."""
+        """Set target end-effector pose command.
+
+        Args:
+            command (torch.Tensor): The command to set. This is a tensor of shape (num_robots, num_actions) where
+                :obj:`num_actions` is the dimension of the action space of the controller.
+        """
         # check input size
         if command.shape != (self.num_robots, self.num_actions):
             raise ValueError(
@@ -168,6 +185,15 @@ class JointImpedanceController:
     ) -> torch.Tensor:
         """Performs inference with the controller.
 
+        Args:
+            dof_pos (torch.Tensor): The current joint positions.
+            dof_vel (torch.Tensor): The current joint velocities.
+            mass_matrix (Optional[torch.Tensor], optional): The joint-space inertial matrix. Defaults to None.
+            gravity (Optional[torch.Tensor], optional): The joint-space gravity vector. Defaults to None.
+
+        Raises:
+            ValueError: When the command type is invalid.
+
         Returns:
             torch.Tensor: The target joint torques commands.
         """

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/operational_space.py

@@ -83,6 +83,17 @@ class OperationSpaceController:
     """
 
     def __init__(self, cfg: OperationSpaceControllerCfg, num_robots: int, num_dof: int, device: str):
+        """Initialize operation-space controller.
+
+        Args:
+            cfg (OperationSpaceControllerCfg): The configuration for operation-space controller.
+            num_robots (int): The number of robots to control.
+            num_dof (int): The number of degrees of freedom of the robot.
+            device (str): The device to use for computations.
+
+        Raises:
+            ValueError: When invalid control command is provided.
+        """
         # store inputs
         self.cfg = cfg
         self.num_robots = num_robots
@@ -171,7 +182,11 @@ class OperationSpaceController:
         pass
 
     def set_command(self, command: torch.Tensor):
-        """Set target end-effector pose command."""
+        """Set target end-effector pose or force command.
+
+        Args:
+            command (torch.Tensor): The target end-effector pose or force command.
+        """
         # check input size
         if command.shape != (self.num_robots, self.num_actions):
             raise ValueError(
@@ -214,6 +229,27 @@ class OperationSpaceController:
     ) -> torch.Tensor:
         """Performs inference with the controller.
 
+        Args:
+            jacobian (torch.Tensor): The Jacobian matrix of the end-effector.
+            ee_pose (Optional[torch.Tensor], optional): The current end-effector pose. It is a tensor of shape
+                (num_robots, 7), which contains the position and quaternion ``(w, x, y, z)``. Defaults to None.
+            ee_vel (Optional[torch.Tensor], optional): The current end-effector velocity. It is a tensor of shape
+                (num_robots, 6), which contains the linear and angular velocities. Defaults to None.
+            ee_force (Optional[torch.Tensor], optional): The current external force on the end-effector.
+                It is a tensor of shape (num_robots, 3), which contains the linear force. Defaults to None.
+            mass_matrix (Optional[torch.Tensor], optional): The joint-space inertial matrix. Defaults to None.
+            gravity (Optional[torch.Tensor], optional): The joint-space gravity vector. Defaults to None.
+
+        Raises:
+            ValueError: When the end-effector pose is not provided for the 'position_rel' command.
+            ValueError: When the end-effector pose is not provided for the 'position_abs' command.
+            ValueError: When the end-effector pose is not provided for the 'pose_rel' command.
+            ValueError: When an invalid command type is provided.
+            ValueError: When motion-control is enabled but the end-effector pose or velocity is not provided.
+            ValueError: When force-control is enabled but the end-effector force is not provided.
+            ValueError: When inertial compensation is enabled but the mass matrix  is not provided.
+            ValueError: When gravity compensation is enabled but the gravity vector is not provided.
+
         Returns:
             torch.Tensor: The target joint torques commands.
         """

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/rmp_flow.py

@@ -38,6 +38,16 @@ class RmpFlowController:
     """Wraps around RMP-Flow from IsaacSim for batched environments."""
 
     def __init__(self, cfg: RmpFlowControllerCfg, prim_paths_expr: str, device: str):
+        """Initialize the controller.
+
+        Args:
+            cfg (RmpFlowControllerCfg): The configuration for the controller.
+            prim_paths_expr (str): The expression to find the articulation prim paths.
+            device (str): The device to use for computation.
+
+        Raises:
+            NotImplementedError: When the robot name is not supported.
+        """
         # store input
         self.cfg = cfg
         self._device = device

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/rmp_flow_smoothed.py

@@ -18,6 +18,17 @@ class RmpFlowController:
     """Wraps around RMP-Flow from IsaacSim for batched environments."""
 
     def __init__(self, prim_paths_expr: str, robot_name: str, dt: float, device: str):
+        """Initialize the controller.
+
+        Args:
+            prim_paths_expr (str): The expression to find the articulation prim paths.
+            robot_name (str): The name of the robot. Supported robots: franka, ur10.
+            dt (float): The time step of the simulation.
+            device (str): The device to use for computation.
+
+        Raises:
+            NotImplementedError: When the robot name is not supported.
+        """
         # store input
         self._device = device
         # Load configuration for the controller

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/device_base.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Base class for tele-operation interface.
-"""
+"""Base class for teleoperation interface."""
 
 
 from abc import ABC, abstractmethod
@@ -47,6 +45,6 @@ class DeviceBase(ABC):
         """Provides the joystick event state.
 
         Returns:
-            Any -- The processed output form the joystick.
+            Any: The processed output form the joystick.
         """
         raise NotImplementedError

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se2_keyboard.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Keyboard controller for SE(2) control.
-"""
+"""Keyboard controller for SE(2) control."""
 
 
 import numpy as np
@@ -18,7 +16,7 @@ from ..device_base import DeviceBase
 
 
 class Se2Keyboard(DeviceBase):
-    """A keyboard controller for sending SE(2) commands as velocity commands.
+    r"""A keyboard controller for sending SE(2) commands as velocity commands.
 
     This class is designed to provide a keyboard controller for mobile base (such as quadrupeds).
     It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot's

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se3_keyboard.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Keyboard controller for SE(3) control.
-"""
+"""Keyboard controller for SE(3) control."""
 
 
 import numpy as np

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se2_spacemouse.py

@@ -16,7 +16,7 @@ from .utils import convert_buffer
 
 
 class Se2SpaceMouse(DeviceBase):
-    """A space-mouse controller for sending SE(2) commands as delta poses.
+    r"""A space-mouse controller for sending SE(2) commands as delta poses.
 
     This class implements a space-mouse controller to provide commands to mobile base.
     It uses the `HID-API`_ which interfaces with USD and Bluetooth HID-class devices across multiple platforms.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/utils.py

@@ -75,5 +75,4 @@ def _scale_to_control(x, axis_scale=350.0, min_v=-1.0, max_v=1.0):
         float: Clipped, scaled input from HID
     """
     x = x / axis_scale
-    x = min(max(x, min_v), max_v)
-    return x
+    return min(max(x, min_v), max_v)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/objects/articulated/articulated_object_data.py

@@ -57,10 +57,7 @@ class ArticulatedObjectData:
 
     @property
     def root_quat_w(self) -> torch.Tensor:
-        """
-        Root orientation in quaternion (w, x, y, z) in simulation world frame.
-        Shape is ``(count, 4)``.
-        """
+        """Root orientation in quaternion (w, x, y, z) in simulation world frame. Shape is ``(count, 4)``."""
         return self.root_state_w[:, 3:7]
 
     @property

source/extensions/omni.isaac.orbit/omni/isaac/orbit/objects/rigid/rigid_object_data.py

@@ -24,7 +24,7 @@ class RigidObjectData:
 
     @property
     def root_pos_w(self) -> torch.Tensor:
-        """Root position in simulation world frame. Shape is ``(count, 3).``"""
+        """Root position in simulation world frame. Shape is ``(count, 3)``."""
         return self.root_state_w[:, :3]
 
     @property

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/legged_robot/legged_robot.py

@@ -32,6 +32,11 @@ class LeggedRobot(RobotBase):
     """
 
     def __init__(self, cfg: LeggedRobotCfg):
+        """Initialize the robot class.
+
+        Args:
+            cfg (LeggedRobotCfg): The configuration instance.
+        """
         # initialize parent
         super().__init__(cfg)
         # container for data access

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/mobile_manipulator/mobile_manipulator.py

@@ -23,6 +23,11 @@ class MobileManipulator(SingleArmManipulator):
     """Configuration for the mobile manipulator."""
 
     def __init__(self, cfg: MobileManipulatorCfg):
+        """Initialize the robot class.
+
+        Args:
+            cfg (MobileManipulatorCfg): The configuration instance.
+        """
         # initialize parent
         super().__init__(cfg)
         # container for data access
@@ -116,6 +121,11 @@ class LeggedMobileManipulator(MobileManipulator, LeggedRobot):
     """Configuration for the legged mobile manipulator."""
 
     def __init__(self, cfg: LeggedMobileManipulatorCfg):
+        """Initialize the robot class.
+
+        Args:
+            cfg (LeggedMobileManipulatorCfg): The configuration instance.
+        """
         # initialize parent
         super().__init__(cfg)
         # container for data access

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/single_arm/single_arm.py

@@ -31,6 +31,11 @@ class SingleArmManipulator(RobotBase):
     """
 
     def __init__(self, cfg: SingleArmManipulatorCfg):
+        """Initialize the robot class.
+
+        Args:
+            cfg (SingleArmManipulatorCfg): The configuration instance.
+        """
         # initialize parent
         super().__init__(cfg)
         # container for data access

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py

@@ -117,7 +117,7 @@ class Camera(SensorBase):
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
         # message for class
-        msg = (
+        return (
             f"Camera @ '{self.prim_path}': \n"
             f"\tdata types   : {list(self._data.output.keys())} \n"
             f"\ttick rate (s): {self.sensor_tick}\n"
@@ -127,7 +127,6 @@ class Camera(SensorBase):
             f"\tposition     : {self._data.position} \n"
             f"\torientation  : {self._data.orientation} \n"
         )
-        return msg
 
     """
     Properties
@@ -523,9 +522,8 @@ class Camera(SensorBase):
         b = width * 0.5
         c = focal_px
         d = height * 0.5
-        cam_intrinsic_matrix = np.array([[a, 0, b], [0, c, d], [0, 0, 1]], dtype=float)
-
-        return cam_intrinsic_matrix
+        # return the matrix
+        return np.array([[a, 0, b], [0, c, d], [0, 0, 1]], dtype=float)
 
     def _compute_ros_pose(self) -> Tuple[np.ndarray, np.ndarray]:
         """Computes the pose of the camera in the world frame with ROS convention.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/utils.py

@@ -28,7 +28,7 @@ def transform_points(
     orientation: Optional[Sequence[float]] = None,
     device: Union[torch.device, str, None] = None,
 ) -> Union[np.ndarray, torch.Tensor]:
-    """Transform input points in a given frame to a target frame.
+    r"""Transform input points in a given frame to a target frame.
 
     This function uses torch operations to transform points from a source frame to a target frame. The
     transformation is defined by the position ``t`` and orientation ``R`` of the target frame in the source frame.
@@ -85,7 +85,7 @@ def create_pointcloud_from_depth(
     orientation: Optional[Sequence[float]] = None,
     device: Optional[Union[torch.device, str]] = None,
 ) -> Union[np.ndarray, torch.Tensor]:
-    """Creates pointcloud from input depth image and camera intrinsic matrix.
+    r"""Creates pointcloud from input depth image and camera intrinsic matrix.
 
     This function creates a pointcloud from a depth image and camera intrinsic matrix. The pointcloud is
     computed using the following equation:
@@ -356,4 +356,4 @@ def _create_pointcloud_from_depth_jit(
         pts_idx_to_keep = torch.all(torch.logical_and(~torch.isnan(points_xyz), ~torch.isinf(points_xyz)), dim=1)
         points_xyz = points_xyz[pts_idx_to_keep, ...]
 
-    return points_xyz
+    return points_xyz  # noqa: D504

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/height_scanner/height_scanner.py

@@ -100,7 +100,7 @@ class HeightScanner(SensorBase):
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
         # message for class
-        msg = (
+        return (
             f"Height Scanner @ '{self.prim_path}': \n"
             f"\ttick rate (s) : {self.sensor_tick}\n"
             f"\ttimestamp (s) : {self.timestamp}\n"
@@ -109,7 +109,6 @@ class HeightScanner(SensorBase):
             f"\torientation   : {self.data.orientation}\n"
             f"\t# of hits     : {np.sum(self.data.hit_status)} / {self._scan_points[0]}\n"
         )
-        return msg
 
     """
     Properties
@@ -159,7 +158,7 @@ class HeightScanner(SensorBase):
     Operations
     """
 
-    def spawn(self, parent_prim_path: str):
+    def spawn(self, parent_prim_path: str):  # noqa: D102
         # Check if sensor is already spawned
         if self._is_spawned:
             raise RuntimeError(f"The height scanner sensor instance has already been spawned at: {self.prim_path}.")
@@ -175,7 +174,7 @@ class HeightScanner(SensorBase):
         # Set spawning to true
         self._is_spawned = True
 
-    def initialize(self):
+    def initialize(self):  # noqa: D102
         # Check that sensor has been spawned
         if not self._is_spawned:
             raise RuntimeError("Height scanner sensor must be spawned first. Please call `spawn(...)`.")
@@ -187,7 +186,7 @@ class HeightScanner(SensorBase):
         # Initialize buffers
         self.reset()
 
-    def reset(self):
+    def reset(self):  # noqa: D102
         # reset the timestamp
         super().reset()
         # reset the buffer

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/height_scanner/height_scanner_marker.py

@@ -3,6 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
+"""Helper class to handle visual sphere markers to show ray-casting of height scanner."""
+
 import numpy as np
 import torch
 from typing import List, Optional, Sequence, Union
@@ -28,6 +31,16 @@ class HeightScannerMarker:
     """
 
     def __init__(self, prim_path: str, count: int, radius: float = 1.0) -> None:
+        """Initialize the class.
+
+        Args:
+            prim_path (str): The prim path of the point instancer.
+            count (int): The number of markers to create.
+            radius (float, optional): The radius of the spherical markers. Defaults to 1.0.
+
+        Raises:
+            ValueError: When a prim at the given path exists but is not a valid point instancer.
+        """
         # check inputs
         stage = stage_utils.get_current_stage()
         # -- prim path

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/height_scanner/utils.py

@@ -48,9 +48,7 @@ def create_points_from_grid(size: Tuple[float, float], resolution: float) -> np.
     y = np.arange(-size[1] / 2, size[1] / 2 + resolution, resolution)
     grid = np.meshgrid(x, y, sparse=False, indexing="ij")
     # Concatenate the scan grid into points array (N, 2): first x is fixed while y changes
-    points = np.vstack(list(map(np.ravel, grid))).T
-
-    return points
+    return np.vstack(list(map(np.ravel, grid))).T
 
 
 def plot_height_grid(

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py

@@ -61,7 +61,7 @@ class SensorBase:
     @property
     def data(self) -> Any:
         """The data from the simulated sensor."""
-        return None
+        return None  # noqa: R501
 
     """
     Helpers

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/assets.py

@@ -69,7 +69,8 @@ def read_file(path: str) -> io.BytesIO:
     # check file status
     file_status = check_file_path(path)
     if file_status == 1:
-        return io.BytesIO(open(path, "rb").read())
+        with open(path, "rb") as f:
+            return io.BytesIO(f.read())
     elif file_status == 2:
         file_content = omni.client.read_file(path)[2]
         return io.BytesIO(memoryview(file_content).tobytes())

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/dict.py

@@ -97,8 +97,8 @@ def update_class_from_dict(obj, data: Dict[str, Any], _ns: str = "") -> None:
                     raise ValueError(
                         f"[Config]: Incorrect length under namespace: {key_ns}. Expected: {len(obj_mem)}, Received: {len(value)}."
                     )
-                else:
-                    setattr(obj, key, value)
+                # set value
+                setattr(obj, key, value)
             elif callable(obj_mem):
                 # update function name
                 value = _string_to_callable(value)
@@ -148,11 +148,11 @@ def convert_dict_to_backend(
         dict: The updated dict with the data converted to the desired backend.
     """
     # THINK: Should we also support converting to a specific device, e.g. "cuda:0"?
-    # Define the conversion functions for each backend.
+    # Check the backend is valid.
     if backend not in TENSOR_TYPE_CONVERSIONS:
         raise ValueError(f"Unknown backend '{backend}'. Supported backends are 'numpy', 'torch', and 'warp'.")
-    else:
-        tensor_type_conversions = TENSOR_TYPE_CONVERSIONS[backend]
+    # Define the conversion functions for each backend.
+    tensor_type_conversions = TENSOR_TYPE_CONVERSIONS[backend]
 
     # Parse the array types and convert them to the corresponding types: "numpy" -> np.ndarray, etc.
     parsed_types = list()
@@ -176,8 +176,8 @@ def convert_dict_to_backend(
             # check if we have a known conversion.
             if data_type not in tensor_type_conversions:
                 raise ValueError(f"No registered conversion for data type: {data_type} to {backend}!")
-            else:
-                output_dict[key] = tensor_type_conversions[data_type](value)
+            # convert the data to the desired backend.
+            output_dict[key] = tensor_type_conversions[data_type](value)
         # -- nested dictionaries
         elif isinstance(data[key], dict):
             output_dict[key] = convert_dict_to_backend(value)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/pkl.py

@@ -3,6 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
+"""Utilities for file I/O with pickle."""
+
 import os
 import pickle
 from typing import Any

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/yaml.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+"""Utilities for file I/O with yaml."""
+
 import os
 import yaml
 from typing import Dict, Union

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/kit.py

@@ -3,6 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import contextlib
 import math
 from typing import Optional, Sequence
 
@@ -343,9 +344,9 @@ def set_rigid_body_properties(
     # check if prim has rigid-body applied on it
     if not UsdPhysics.RigidBodyAPI(rigid_body_prim):
         raise ValueError(f"No rigid body schema present for prim '{prim_path}'.")
-    else:
-        usd_rigid_body_api = UsdPhysics.RigidBodyAPI(rigid_body_prim)
-    # retrieve the rigid-body api
+    # retrieve the USD rigid-body api
+    usd_rigid_body_api = UsdPhysics.RigidBodyAPI(rigid_body_prim)
+    # retrieve the physx rigid-body api
     physx_rigid_body_api = PhysxSchema.PhysxRigidBodyAPI(rigid_body_prim)
     if not physx_rigid_body_api:
         physx_rigid_body_api = PhysxSchema.PhysxRigidBodyAPI.Apply(rigid_body_prim)
@@ -471,10 +472,8 @@ def set_nested_articulation_properties(prim_path: str, **kwargs) -> None:
         # get current prim
         child_prim = all_prims.pop(0)
         # set articulation properties
-        try:
+        with contextlib.suppress(ValueError):
             set_articulation_properties(prim_utils.get_prim_path(child_prim), **kwargs)
-        except ValueError:
-            pass
         # add all children to tree
         all_prims += child_prim.GetChildren()
 
@@ -516,10 +515,8 @@ def set_nested_rigid_body_properties(prim_path: str, **kwargs):
         # get current prim
         child_prim = all_prims.pop(0)
         # set rigid-body properties
-        try:
+        with contextlib.suppress(ValueError):
             set_rigid_body_properties(prim_utils.get_prim_path(child_prim), **kwargs)
-        except ValueError:
-            pass
         # add all children to tree
         all_prims += child_prim.GetChildren()
 
@@ -550,9 +547,7 @@ def set_nested_collision_properties(prim_path: str, **kwargs):
         # get current prim
         child_prim = all_prims.pop(0)
         # set collider properties
-        try:
+        with contextlib.suppress(ValueError):
             set_collision_properties(prim_utils.get_prim_path(child_prim), **kwargs)
-        except ValueError:
-            pass
         # add all children to tree
         all_prims += child_prim.GetChildren()

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/math.py

@@ -112,7 +112,6 @@ def copysign(mag: float, other: torch.Tensor) -> torch.Tensor:
     Returns:
         torch.Tensor: The output tensor.
     """
-
     mag = torch.tensor(mag, device=other.device, dtype=torch.float).repeat(other.shape[0])
     return torch.abs(mag) * torch.sign(other)
 
@@ -288,7 +287,7 @@ def quat_apply_yaw(quat: torch.Tensor, vec: torch.Tensor) -> torch.Tensor:
 
 @torch.jit.script
 def quat_box_minus(q1: torch.Tensor, q2: torch.Tensor) -> torch.Tensor:
-    """Implements box-minus operator (quaternion difference)
+    """Implements box-minus operator (quaternion difference).
 
     Args:
         q1 (torch.Tensor): A (N, 4) tensor for quaternion (x, y, z, w)
@@ -350,7 +349,7 @@ Transformations
 def combine_frame_transforms(
     t01: torch.Tensor, q01: torch.Tensor, t12: torch.Tensor = None, q12: torch.Tensor = None
 ) -> Tuple[torch.Tensor, torch.Tensor]:
-    """Combine transformations between two reference frames into a stationary frame.
+    r"""Combine transformations between two reference frames into a stationary frame.
 
     It performs the following transformation operation: :math:`T_{02} = T_{01} \\times T_{12}`,
     where :math:`T_{AB}` is the homogenous transformation matrix from frame A to B.
@@ -383,7 +382,7 @@ def combine_frame_transforms(
 def subtract_frame_transforms(
     t01: torch.Tensor, q01: torch.Tensor, t02: torch.Tensor, q02: torch.Tensor
 ) -> Tuple[torch.Tensor, torch.Tensor]:
-    """Subtract transformations between two reference frames into a stationary frame.
+    r"""Subtract transformations between two reference frames into a stationary frame.
 
     It performs the following transformation operation: :math:`T_{12} = T_{01}^{-1} \\times T_{02}`,
     where :math:`T_{AB}` is the homogenous transformation matrix from frame A to B.
@@ -522,9 +521,7 @@ def random_orientation(num: int, device: str) -> torch.Tensor:
     # sample random orientation from normal distribution
     quat = torch.randn((num, 4), dtype=torch.float, device=device)
     # normalize the quaternion
-    quat = torch.nn.functional.normalize(quat, p=2.0, dim=-1, eps=1e-12)
-
-    return quat
+    return torch.nn.functional.normalize(quat, p=2.0, dim=-1, eps=1e-12)
 
 
 @torch.jit.script

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/mdp/observation_manager.py

@@ -3,6 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
+"""Observation manager for computing observation signals for a given world."""
+
 import copy
 import functools
 import inspect

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/mdp/reward_manager.py

@@ -3,6 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
+"""Reward manager for computing reward signals for a given world."""
+
 import copy
 import inspect
 import torch

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/timer.py

@@ -12,7 +12,7 @@ from typing import Any, Optional
 
 
 class TimerError(Exception):
-    """A custom exception used to report errors in use of Timer class"""
+    """A custom exception used to report errors in use of :class:`Timer` class."""
 
     pass
 
@@ -23,6 +23,10 @@ class Timer(ContextDecorator):
     A class to keep track of time for performance measurement.
     It allows timing via context managers and decorators as well.
 
+    It uses the `time.perf_counter` function to measure time. This function
+    returns the number of seconds since the epoch as a float. It has the
+    highest resolution available on the system.
+
     As a regular object:
 
     .. code-block:: python
@@ -56,8 +60,11 @@ class Timer(ContextDecorator):
     """
 
     def __init__(self, msg: Optional[str] = None):
-        """
-        Initializes the class variables
+        """Initializes the timer.
+
+        Args:
+            msg (Optional[str], optional): The message to display when using the timer
+                class in a context manager. Defaults to None.
         """
         self._msg = msg
         self._start_time = None
@@ -65,9 +72,10 @@ class Timer(ContextDecorator):
         self._elapsed_time = None
 
     def __str__(self) -> str:
-        """
+        """A string representation of the class object.
+
         Returns:
-            str -- String representation of the class object.
+            str: A string containing the elapsed time.
         """
         return f"{self.time_elapsed:0.6f} seconds"
 
@@ -101,7 +109,7 @@ class Timer(ContextDecorator):
         self._start_time = time.perf_counter()
 
     def stop(self):
-        """Stop timing"""
+        """Stop timing."""
         if self._start_time is None:
             raise TimerError("Timer is not running. Use .start() to start it")
 

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/isaac_env.py

@@ -90,7 +90,7 @@ class IsaacEnv(gym.Env):
         self.rendering_dt = self.cfg.sim.dt * self.cfg.sim.substeps
 
         # print useful information
-        print("[INFO]: Isaac Sim Environment:")
+        print("[INFO]: Isaac Orbit environment:")
         print(f"\t\t Number of instances : {self.num_envs}")
         print(f"\t\t Environment device  : {self.device}")
         print(f"\t\t Physics step-size   : {self.physics_dt}")

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/velocity_cfg.py

@@ -176,6 +176,7 @@ class ControlCfg:
 
 @configclass
 class VelocityEnvCfg(IsaacEnvCfg):
+    """Configuration for the locomotion velocity environment."""
 
     # General Settings
     env: EnvCfg = EnvCfg(num_envs=4096, env_spacing=2.5, episode_length_s=20.0)

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/velocity_env.py

@@ -222,8 +222,7 @@ class VelocityEnv(IsaacEnv):
         self._push_interval = math.ceil(self.cfg.randomization.push_robot["interval_s"] / self.dt)
 
     def _initialize_views(self) -> None:
-        """Creates views and extract useful quantities from them"""
-
+        """Creates views and extract useful quantities from them."""
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         self.sim.reset()
@@ -477,7 +476,7 @@ class LocomotionVelocityRewardManager(RewardManager):
         return torch.sum(out_of_limits, dim=1)
 
     def dof_vel_limits(self, env: VelocityEnv, soft_ratio: float):
-        """Penalize dof velocities too close to the limit
+        """Penalize dof velocities too close to the limit.
 
         Args:
             soft_ratio (float): Defines the soft limit as a percentage of the hard limit.

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_cfg.py

@@ -182,6 +182,7 @@ class ControlCfg:
 
 @configclass
 class LiftEnvCfg(IsaacEnvCfg):
+    """Configuration for the Lift environment."""
 
     # General Settings
     env: EnvCfg = EnvCfg(num_envs=1024, env_spacing=2.5, episode_length_s=4.0)

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py

@@ -227,8 +227,7 @@ class LiftEnv(IsaacEnv):
             setattr(config, attr, torch.tensor(getattr(config, attr), device=self.device, requires_grad=False))
 
     def _initialize_views(self) -> None:
-        """Creates views and extract useful quantities from them"""
-
+        """Creates views and extract useful quantities from them."""
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         self.sim.reset()

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/reach_cfg.py

@@ -128,6 +128,7 @@ class ControlCfg:
 
 @configclass
 class ReachEnvCfg(IsaacEnvCfg):
+    """Configuration for the reach environment."""
 
     # General Settings
     env: EnvCfg = EnvCfg(num_envs=2048, env_spacing=2.5, episode_length_s=4.0)

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/reach_env.py

@@ -199,8 +199,7 @@ class ReachEnv(IsaacEnv):
             setattr(config, attr, torch.tensor(getattr(config, attr), device=self.device, requires_grad=False))
 
     def _initialize_views(self) -> None:
-        """Creates views and extract useful quantities from them"""
-
+        """Creates views and extract useful quantities from them."""
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         self.sim.reset()
@@ -320,8 +319,7 @@ class ReachRewardManager(RewardManager):
     def tracking_robot_position_l2(self, env: ReachEnv):
         """Penalize tracking position error using L2-kernel."""
         # compute error
-        error = torch.sum(torch.square(env.ee_des_pose_w[:, :3] - env.robot.data.ee_state_w[:, 0:3]), dim=1)
-        return error
+        return torch.sum(torch.square(env.ee_des_pose_w[:, :3] - env.robot.data.ee_state_w[:, 0:3]), dim=1)
 
     def tracking_robot_position_exp(self, env: ReachEnv, sigma: float):
         """Penalize tracking position error using exp-kernel."""

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rl_games.py

@@ -132,12 +132,12 @@ class RlGamesVecEnvWrapper(gym.Wrapper):
     Operations - MDP
     """
 
-    def reset(self):
+    def reset(self):  # noqa: D102
         obs_dict = self.env.reset()
         # process observations and states
         return self._process_obs(obs_dict)
 
-    def step(self, actions):
+    def step(self, actions):  # noqa: D102
         # clip the actions
         actions = torch.clamp(actions.clone(), -self._clip_actions, self._clip_actions)
         # perform environment step
@@ -212,16 +212,32 @@ class RlGamesGpuEnv(IVecEnv):
     # TODO: Adding this for now but do we really need this?
 
     def __init__(self, config_name: str, num_actors: int, **kwargs):
+        """Initialize the environment.
+
+        Args:
+            config_name (str): The name of the environment configuration.
+            num_actors (int): The number of actors in the environment. This is not used in this wrapper.
+        """
         self.env: RlGamesVecEnvWrapper = env_configurations.configurations[config_name]["env_creator"](**kwargs)
 
-    def step(self, action):
+    def step(self, action):  # noqa: D102
         return self.env.step(action)
 
-    def reset(self):
+    def reset(self):  # noqa: D102
         return self.env.reset()
 
-    def get_number_of_agents(self):
+    def get_number_of_agents(self) -> int:
+        """Get number of agents in the environment.
+
+        Returns:
+            int: The number of agents in the environment.
+        """
         return self.env.get_number_of_agents()
 
-    def get_env_info(self):
+    def get_env_info(self) -> dict:
+        """Get the Gym spaces for the environment.
+
+        Returns:
+            dict: The Gym spaces for the environment.
+        """
         return self.env.get_env_info()

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl.py

@@ -58,6 +58,15 @@ class RslRlVecEnvWrapper(gym.Wrapper, VecEnv):
     """
 
     def __init__(self, env: IsaacEnv):
+        """Initializes the wrapper.
+
+        Args:
+            env (IsaacEnv): The environment to wrap around.
+
+        Raises:
+            ValueError: When the environment is not an instance of :class:`IsaacEnv`.
+            ValueError: When the observation space is not a :obj:`gym.spaces.Box`.
+        """
         # check that input is valid
         if not isinstance(env.unwrapped, IsaacEnv):
             raise ValueError(f"The environment must be inherited from IsaacEnv. Environment type: {type(env)}")
@@ -100,13 +109,13 @@ class RslRlVecEnvWrapper(gym.Wrapper, VecEnv):
     Operations - MDP
     """
 
-    def reset(self) -> VecEnvObs:
+    def reset(self) -> VecEnvObs:  # noqa: D102
         # reset the environment
         obs_dict = self.env.reset()
         # return observations
         return self._process_obs(obs_dict)
 
-    def step(self, actions: torch.Tensor) -> VecEnvStepReturn:
+    def step(self, actions: torch.Tensor) -> VecEnvStepReturn:  # noqa: D102
         # record step information
         obs_dict, rew, dones, extras = self.env.step(actions)
         # process observations

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/sb3.py

@@ -46,7 +46,7 @@ class Sb3VecEnvWrapper(gym.Wrapper, VecEnv):
     We also add monitoring functionality that computes the un-discounted episode
     return and length. This information is added to the info dicts under key `episode`.
 
-    In contrast to Isaac Sim environment, stable-baselines expect the following:
+    In contrast to Isaac Orbit environment, stable-baselines expect the following:
 
     1. numpy datatype for MDP signals
     2. a list of info dicts for each sub-environment (instead of a dict)
@@ -67,6 +67,14 @@ class Sb3VecEnvWrapper(gym.Wrapper, VecEnv):
     """
 
     def __init__(self, env: IsaacEnv):
+        """Initialize the wrapper.
+
+        Args:
+            env: The environment to wrap around.
+
+        Raises:
+            ValueError: When the environment is not an instance of :class:`IsaacEnv`.
+        """
         # check that input is valid
         if not isinstance(env.unwrapped, IsaacEnv):
             raise ValueError(f"The environment must be inherited from IsaacEnv. Environment type: {type(env)}")
@@ -94,12 +102,12 @@ class Sb3VecEnvWrapper(gym.Wrapper, VecEnv):
     Operations - MDP
     """
 
-    def reset(self) -> VecEnvObs:
+    def reset(self) -> VecEnvObs:  # noqa: D102
         obs_dict = self.env.reset()
         # convert data types to numpy depending on backend
         return self._process_obs(obs_dict)
 
-    def step(self, actions: np.ndarray) -> VecEnvStepReturn:
+    def step(self, actions: np.ndarray) -> VecEnvStepReturn:  # noqa: D102
         # convert input to numpy array
         actions = np.asarray(actions)
         # convert to tensor
@@ -130,25 +138,25 @@ class Sb3VecEnvWrapper(gym.Wrapper, VecEnv):
     Unused methods.
     """
 
-    def step_async(self, actions):
+    def step_async(self, actions):  # noqa: D102
         self._async_actions = actions
 
-    def step_wait(self):
+    def step_wait(self):  # noqa: D102
         return self.step(self._async_actions)
 
-    def get_attr(self, attr_name, indices):
+    def get_attr(self, attr_name, indices):  # noqa: D102
         raise NotImplementedError
 
-    def set_attr(self, attr_name, value, indices=None):
+    def set_attr(self, attr_name, value, indices=None):  # noqa: D102
         raise NotImplementedError
 
-    def env_method(self, method_name: str, *method_args, indices=None, **method_kwargs):
+    def env_method(self, method_name: str, *method_args, indices=None, **method_kwargs):  # noqa: D102
         raise NotImplementedError
 
-    def env_is_wrapped(self, wrapper_class, indices=None):
+    def env_is_wrapped(self, wrapper_class, indices=None):  # noqa: D102
         raise NotImplementedError
 
-    def get_images(self):
+    def get_images(self):  # noqa: D102
         raise NotImplementedError
 
     """

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/skrl.py

-"""Wrapper to configure an :class:`IsaacEnv` instance to skrl environment
+"""Wrapper to configure an :class:`IsaacEnv` instance to skrl environment.
 
 The following example shows how to wrap an environment for skrl:
 
@@ -48,6 +48,12 @@ def SkrlVecEnvWrapper(env: IsaacEnv):
     is maintained for compatibility with the structure of the extension that contains it.
     Internally it calls the :func:`wrap_env` from the skrl library API.
 
+    Args:
+        env: The environment to wrap around.
+
+    Raises:
+        ValueError: When the environment is not an instance of :class:`IsaacEnv`.
+
     Reference:
         https://skrl.readthedocs.io/en/latest/modules/skrl.envs.wrapping.html
     """

source/standalone/environments/list_envs.py

@@ -22,7 +22,6 @@ import omni.isaac.orbit_envs  # noqa: F401
 
 def main():
     """Print all environments registered in `omni.isaac.orbit_envs` extension."""
-
     # print all the available environments
     table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config"])
     table.title = "Available Environments in ORBIT"

source/standalone/environments/random_agent.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to an environment with random action agent.
-"""
+"""Script to an environment with random action agent."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -38,8 +36,7 @@ from omni.isaac.orbit_envs.utils import parse_env_cfg
 
 
 def main():
-    """Random actions agent with Isaac Sim environment."""
-
+    """Random actions agent with Isaac Orbit environment."""
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     # create environment

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to run a keyboard teleoperation with Orbit manipulation environments.
-"""
+"""Script to run a keyboard teleoperation with Orbit manipulation environments."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -60,7 +58,6 @@ def pre_process_actions(delta_pose: torch.Tensor, gripper_command: bool) -> torc
 
 def main():
     """Running keyboard teleoperation with Orbit manipulation environment."""
-
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     # modify configuration

source/standalone/environments/zero_agent.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to run an environment with zero action agent.
-"""
+"""Script to run an environment with zero action agent."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -38,8 +36,7 @@ from omni.isaac.orbit_envs.utils import parse_env_cfg
 
 
 def main():
-    """Zero actions agent with Isaac Sim environment."""
-
+    """Zero actions agent with Isaac Orbit environment."""
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     # create environment

source/standalone/workflows/rl_games/config.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+"""Utility functions for parsing rl-games configuration files."""
+
 import os
 import yaml
 

source/standalone/workflows/rl_games/play.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to play a checkpoint if an RL agent from RL-Games.
-"""
+"""Script to play a checkpoint if an RL agent from RL-Games."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -53,7 +51,6 @@ from config import parse_rlg_cfg
 
 def main():
     """Play with RL-Games agent."""
-
     # parse env configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     agent_cfg = parse_rlg_cfg(args_cli.task)

source/standalone/workflows/rl_games/train.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to train RL agent with RL-Games.
-"""
+"""Script to train RL agent with RL-Games."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -58,7 +56,7 @@ from config import parse_rlg_cfg
 
 def main():
     """Train with RL-Games agent."""
-
+    # parse seed from command line
     args_cli_seed = args_cli.seed
 
     # parse configuration
@@ -73,10 +71,7 @@ def main():
     log_root_path = os.path.abspath(log_root_path)
     print(f"[INFO] Logging experiment in directory: {log_root_path}")
     # specify directory for logging runs
-    if "full_experiment_name" not in agent_cfg["params"]["config"]:
-        log_dir = datetime.now().strftime("%b%d_%H-%M-%S")
-    else:
-        log_dir = agent_cfg["params"]["config"]["full_experiment_name"]
+    log_dir = agent_cfg["params"]["config"].get("full_experiment_name", datetime.now().strftime("%b%d_%H-%M-%S"))
     # set directory into agent config
     # logging directory path: <train_dir>/<full_experiment_name>
     agent_cfg["params"]["config"]["train_dir"] = log_root_path

source/standalone/workflows/robomimic/collect_demonstrations.py

@@ -30,6 +30,7 @@ simulation_app = SimulationApp(config)
 """Rest everything follows."""
 
 
+import contextlib
 import gym
 import os
 import torch
@@ -109,7 +110,7 @@ def main():
     collector_interface.reset()
 
     # simulate environment
-    try:
+    with contextlib.suppress(KeyboardInterrupt):
         while not collector_interface.is_stopped():
             # get keyboard command
             delta_pose, gripper_command = teleop_interface.advance()
@@ -151,8 +152,6 @@ def main():
             # flush data from collector for successful environments
             reset_env_ids = dones.nonzero(as_tuple=False).squeeze(-1)
             collector_interface.flush(reset_env_ids)
-    except KeyboardInterrupt:
-        pass
 
     # close the simulator
     collector_interface.close()

source/standalone/workflows/robomimic/config.py

@@ -3,6 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+"""Utility functions for parsing robomimic configuration files."""
+
+
 import os
 
 from omni.isaac.orbit_envs import ORBIT_ENVS_DATA_DIR

source/standalone/workflows/robomimic/play.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to run a trained policy from robomimic.
-"""
+"""Script to run a trained policy from robomimic."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -30,7 +28,6 @@ simulation_app = SimulationApp(config)
 
 
 import gym
-import math
 import torch
 
 import robomimic  # noqa: F401
@@ -43,8 +40,7 @@ from omni.isaac.orbit_envs.utils import parse_env_cfg
 
 
 def main():
-    """Run a trained policy from robomimic with Isaac Sim environment."""
-
+    """Run a trained policy from robomimic with Isaac Orbit environment."""
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=1)
     # modify configuration
@@ -53,17 +49,7 @@ def main():
     env_cfg.terminations.episode_timeout = False
     env_cfg.terminations.is_success = True
     env_cfg.observations.return_dict_obs_in_group = True
-    # FIXME: Teleop works Spawn the Franka s.t. it is axis aligned with world frame.
-    env_cfg.robot.init_state.dof_pos = {
-        "panda_joint1": 0.0,
-        "panda_joint2": math.pi / 16.0,
-        "panda_joint3": 0.0,
-        "panda_joint4": -math.pi / 2.0 - math.pi / 3.0,
-        "panda_joint5": 0.0,
-        "panda_joint6": math.pi - 0.2,
-        "panda_joint7": math.pi / 4,
-        "panda_finger_joint*": 0.035,
-    }
+
     # create environment
     env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
 

source/standalone/workflows/robomimic/tools/episode_merging.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Tool to merge multiple episodes with single trajectory into one episode with multiple trajectories.
-"""
+"""Tool to merge multiple episodes with single trajectory into one episode with multiple trajectories."""
 
 
 import argparse
@@ -17,13 +15,19 @@ if __name__ == "__main__":
     # parse arguments
     parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
     parser.add_argument(
-        "--dir", type=str, default=None, help="PATH to directory that contains all single episode hdf5 files"
+        "--dir", type=str, default=None, help="Path to directory that contains all single episode hdf5 files"
     )
+    parser.add_argument("--task", type=str, default=None, help="Name of the task.")
     parser.add_argument("--out", type=str, default="merged_dataset.hdf5", help="output hdf5 file")
     args_cli = parser.parse_args()
 
+    # read arguments
     parent_dir = args_cli.dir
     merged_dataset_name = args_cli.out
+    task_name = args_cli.task
+    # check valid task name
+    if task_name is None:
+        raise ValueError("Please specify a valid task name.")
 
     # get hdf5 entries from specified directory
     entries = [i for i in os.listdir(parent_dir) if i.endswith(".hdf5")]
@@ -31,22 +35,21 @@ if __name__ == "__main__":
     # create new hdf5 file for merging episodes
     fp = h5py.File(parent_dir + merged_dataset_name, "a")
 
-    # init
+    # initiate data group
     f_grp = fp.create_group("data")
     f_grp.attrs["num_samples"] = 0
-    count = 0
 
-    for entry in entries:
+    # merge all episodes
+    for count, entry in enumerate(entries):
         fc = h5py.File(parent_dir + entry, "r")
 
         # find total number of samples in all demos
         f_grp.attrs["num_samples"] = f_grp.attrs["num_samples"] + fc["data"]["demo_0"].attrs["num_samples"]
 
         fc.copy("data/demo_0", fp["data"], "demo_" + str(count))
-        count += 1
 
     # This is needed to run env in robomimic
-    fp["data"].attrs["env_args"] = json.dumps({"env_name": "Isaac-Lift-v0", "type": 2, "env_kwargs": {}})
+    fp["data"].attrs["env_args"] = json.dumps({"env_name": task_name, "type": 2, "env_kwargs": {}})
 
     fp.close()
 

source/standalone/workflows/robomimic/tools/inspect_demonstrations.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Tool to check structure of hdf5 files.
-"""
+"""Tool to check structure of hdf5 files."""
 
 
 import argparse

source/standalone/workflows/robomimic/tools/split_train_val.py

@@ -63,7 +63,6 @@ def split_train_val_from_hdf5(hdf5_path, val_ratio=0.1, filter_key=None):
         filter_key (str): if provided, split the subset of demonstration keys stored
             under mask/@filter_key instead of the full set of demonstrations
     """
-
     # retrieve number of demos
     f = h5py.File(hdf5_path, "r")
     if filter_key is not None:

source/standalone/workflows/robomimic/train.py

@@ -62,10 +62,7 @@ from config import ROBOMIMIC_CONFIG_FILES_DICT
 
 
 def train(config, device):
-    """
-    Train a model using the algorithm.
-    """
-
+    """Train a model using the algorithm."""
     # first set seeds
     np.random.seed(config.train.seed)
     torch.manual_seed(config.train.seed)
@@ -331,10 +328,13 @@ def train(config, device):
 
 
 def main(args):
-
+    """Train a model on a task using a specified algorithm."""
+    # load config
     if args.task is not None:
-        ext_cfg = json.load(open(ROBOMIMIC_CONFIG_FILES_DICT[args.task][args.algo]))
-        config = config_factory(ext_cfg["algo_name"])
+        # load config from json file
+        with open(ROBOMIMIC_CONFIG_FILES_DICT[args.task][args.algo]) as f:
+            ext_cfg = json.load(f)
+            config = config_factory(ext_cfg["algo_name"])
         # update config with external json - this will throw errors if
         # the external config has keys not present in the base algo config
         with config.values_unlocked():

source/standalone/workflows/rsl_rl/config.py

@@ -3,6 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+"""Utility functions for parsing rsl-rl configuration files."""
+
+
 import os
 import yaml
 

source/standalone/workflows/rsl_rl/play.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to play a checkpoint if an RL agent from RSL-RL.
-"""
+"""Script to play a checkpoint if an RL agent from RSL-RL."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -45,7 +43,6 @@ from config import parse_rslrl_cfg
 
 def main():
     """Play with RSL-RL agent."""
-
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     agent_cfg = parse_rslrl_cfg(args_cli.task)

source/standalone/workflows/rsl_rl/train.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to train RL agent with RSL-RL.
-"""
+"""Script to train RL agent with RSL-RL."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -54,7 +52,6 @@ from config import parse_rslrl_cfg
 
 def main():
     """Train with RSL-RL agent."""
-
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     agent_cfg = parse_rslrl_cfg(args_cli.task)

source/standalone/workflows/sb3/config.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+"""Utility functions for parsing sb3 configuration files."""
+
 import os
 import yaml
 from torch import nn as nn  # noqa: F401
@@ -40,6 +42,9 @@ def parse_sb3_cfg(task_name) -> dict:
     # parse agent configuration
     with open(config_file) as f:
         cfg = yaml.load(f, Loader=yaml.FullLoader)
+    # check config is valid
+    if cfg is None:
+        raise ValueError(f"Config file is empty: {config_file}")
 
     # post-process certain arguments
     # reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/0e5eb145faefa33e7d79c7f8c179788574b20da5/utils/exp_manager.py#L358

source/standalone/workflows/sb3/train.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to train RL agent with Stable Baselines3.
-"""
+"""Script to train RL agent with Stable Baselines3."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -59,7 +57,6 @@ from config import parse_sb3_cfg
 
 def main():
     """Train with stable-baselines agent."""
-
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     agent_cfg = parse_sb3_cfg(args_cli.task)

source/standalone/workflows/skrl/config.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+"""Utility functions for parsing skrl configuration files."""
+
 import os
 import yaml
 
@@ -82,6 +90,4 @@ def convert_skrl_cfg(cfg):
                     d["rewards_shaper"] = reward_shaper_function(value)
 
     # parse agent configuration and convert to classes
-    update_dict(cfg)
-    # return the updated configuration
-    return cfg
+    return update_dict(cfg)

source/standalone/workflows/skrl/play.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 """
-Script to play a checkpoint if an RL agent from skrl.
-Visit the skrl documentation (https://skrl.readthedocs.io) to see the examples structured in a more user-friendly way
+Script to play a checkpoint of an RL agent from skrl.
+
+Visit the skrl documentation (https://skrl.readthedocs.io) to see the examples structured in
+a more user-friendly way.
 """
 
 """Launch Isaac Sim Simulator first."""
@@ -42,7 +49,6 @@ from config import convert_skrl_cfg, parse_skrl_cfg
 
 def main():
     """Play with skrl agent."""
-
     # parse env configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     experiment_cfg = parse_skrl_cfg(args_cli.task)

source/standalone/workflows/skrl/train.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 """
 Script to train RL agent with skrl.
-Visit the skrl documentation (https://skrl.readthedocs.io) to see the examples structured in a more user-friendly way
+
+Visit the skrl documentation (https://skrl.readthedocs.io) to see the examples structured in
+a more user-friendly way.
 """
 
 """Launch Isaac Sim Simulator first."""
@@ -53,7 +60,7 @@ from config import convert_skrl_cfg, parse_skrl_cfg
 
 def main():
     """Train with skrl agent."""
-
+    # read the seed from command line
     args_cli_seed = args_cli.seed
 
     # parse configuration

source/tools/blender_obj.py

@@ -5,7 +5,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 """
-Convert a mesh file to `.obj` using blender
+Convert a mesh file to `.obj` using blender.
 
 This file processes a given dae mesh file and saves the resulting mesh file in obj format.
 
@@ -59,7 +59,7 @@ def parse_cli_args():
 
 
 def convert_to_obj(in_file: str, out_file: str, save_usd: bool = False):
-    """Convert a mesh file to `.obj` using blender
+    """Convert a mesh file to `.obj` using blender.
 
     Args:
         in_file (str): Input mesh file to process.

source/tools/check_instanceable.py

@@ -42,6 +42,7 @@ Output from the above commands:
 
 
 import argparse
+import contextlib
 
 # omni-isaac-orbit
 from omni.isaac.kit import SimulationApp
@@ -74,7 +75,6 @@ from omni.isaac.orbit.utils.nucleus import check_file_path
 
 def main():
     """Spawns the USD asset robot and clones it using Isaac Gym Cloner API."""
-
     # check valid file path
     if not check_file_path(args_cli.input):
         raise ValueError(f"Invalid file path: {args_cli.input}")
@@ -116,12 +116,10 @@ def main():
 
     # Simulate scene (if not headless)
     if not args_cli.headless:
-        try:
+        with contextlib.suppress(KeyboardInterrupt):
             while True:
                 # perform step
                 sim.step()
-        except KeyboardInterrupt:
-            pass
 
 
 if __name__ == "__main__":