formats

Author: louislelay

scripts/rsl_rl/play.py

@@ -1,4 +1,9 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2024-2025, Muammer Bay (LycheeAI), Louis Le Lay
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+#
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -53,13 +58,13 @@
 
 """Rest everything follows."""
 
-import gymnasium as gym
 import os
 import time
-import torch
-
-from rsl_rl.runners import DistillationRunner, OnPolicyRunner
 
+import gymnasium as gym
+import isaaclab_tasks  # noqa: F401
+import SO_100.tasks  # noqa: F401
+import torch
 from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
@@ -70,14 +75,15 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
-
-from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, export_policy_as_onnx
-
-import isaaclab_tasks  # noqa: F401
+from isaaclab_rl.rsl_rl import (
+    RslRlBaseRunnerCfg,
+    RslRlVecEnvWrapper,
+    export_policy_as_jit,
+    export_policy_as_onnx,
+)
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
-
-import SO_100.tasks  # noqa: F401
+from rsl_rl.runners import DistillationRunner, OnPolicyRunner
 
 
 @hydra_task_config(args_cli.task, args_cli.agent)
@@ -202,4 +208,4 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    simulation_app.close()