happy pre-commits

Author: AntoineRichard

scripts/environments/export_IODescriptors.py

@@ -38,9 +38,7 @@
 def main():
     """Random actions agent with Isaac Lab environment."""
     # create environment configuration
-    env_cfg = parse_env_cfg(
-        args_cli.task, device=args_cli.device, num_envs=1, use_fabric=True
-    )
+    env_cfg = parse_env_cfg(args_cli.task, device=args_cli.device, num_envs=1, use_fabric=True)
     # create environment
     env = gym.make(args_cli.task, cfg=env_cfg)
 

source/isaaclab/isaaclab/envs/mdp/observations.py

@@ -184,7 +184,9 @@ def body_projected_gravity_b(
 """
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad")
+@generic_io_descriptor(
+    observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad"
+)
 def joint_pos(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """The joint positions of the asset.
 
@@ -195,7 +197,9 @@ def joint_pos(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("
     return asset.data.joint_pos[:, asset_cfg.joint_ids]
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad")
+@generic_io_descriptor(
+    observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad"
+)
 def joint_pos_rel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """The joint positions of the asset w.r.t. the default joint positions.
 
@@ -223,7 +227,9 @@ def joint_pos_limit_normalized(
     )
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad/s")
+@generic_io_descriptor(
+    observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad/s"
+)
 def joint_vel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")):
     """The joint velocities of the asset.
 
@@ -234,7 +240,9 @@ def joint_vel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("
     return asset.data.joint_vel[:, asset_cfg.joint_ids]
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad/s")
+@generic_io_descriptor(
+    observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad/s"
+)
 def joint_vel_rel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")):
     """The joint velocities of the asset w.r.t. the default joint velocities.
 
@@ -245,7 +253,9 @@ def joint_vel_rel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityC
     return asset.data.joint_vel[:, asset_cfg.joint_ids] - asset.data.default_joint_vel[:, asset_cfg.joint_ids]
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="N.m")
+@generic_io_descriptor(
+    observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="N.m"
+)
 def joint_effort(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """The joint applied effort of the robot.
 

source/isaaclab/isaaclab/envs/utils/io_descriptors.py

@@ -1,16 +1,24 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 from __future__ import annotations
 
-from isaaclab.utils import configclass
 from collections.abc import Callable
-from typing import Any, Concatenate, ParamSpec, TypeVar, TYPE_CHECKING
+from typing import TYPE_CHECKING, Any, Concatenate, ParamSpec, TypeVar
+
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
+    from isaaclab.assets.articulation import Articulation
     import torch
 
+import dataclasses
 import functools
 import inspect
-import dataclasses
+
 
 @configclass
 class GenericActionIODescriptor:
@@ -23,6 +31,7 @@ class GenericActionIODescriptor:
     action_type: str = None
     extras: dict[str, Any] = {}
 
+
 @configclass
 class GenericIODescriptor:
     mdp_type: str = "Observation"
@@ -189,4 +198,4 @@ def record_body_names(output: torch.Tensor, descriptor: GenericIODescriptor, **k
     body_ids = kwargs["asset_cfg"].body_ids
     if body_ids == slice(None, None, None):
         body_ids = list(range(len(asset.body_names)))
-    descriptor.body_names = [asset.body_names[i] for i in body_ids]
+    descriptor.body_names = [asset.body_names[i] for i in body_ids]