Moves flake8 settings to pyproject

.pre-commit-config.yaml

@@ -8,12 +8,14 @@ repos:
     rev: 24.3.0
     hooks:
       - id: black
-        args: ["--unstable"]
   - repo: https://github.com/pycqa/flake8
-    rev: 7.0.0
+    rev: 7.1.0
     hooks:
       - id: flake8
-        additional_dependencies: [flake8-simplify, flake8-return]
+        additional_dependencies:
+        - flake8-simplify
+        - flake8-return
+        - Flake8-pyproject
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
     hooks:

.vscode/tools/settings.template.json

@@ -62,14 +62,10 @@
     // This enables python language server. Seems to work slightly better than jedi:
     "python.languageServer": "Pylance",
     // We use "black" as a formatter:
-    "python.formatting.provider": "black",
-    "python.formatting.blackArgs": ["--line-length", "120"],
+    "black-formatter.args": ["--line-length", "120", "--unstable"],
     // Use flake8 for linting
-    "python.linting.pylintEnabled": false,
-    "python.linting.flake8Enabled": true,
-    "python.linting.flake8Args": [
-        "--max-line-length=120"
-    ],
+    "flake8.enabled": true,
+    "flake8.args": ["--config", "${workspaceFolder}/pyproject.toml"],
     // Use docstring generator
     "autoDocstring.docstringFormat": "google",
     "autoDocstring.guessTypes": true,

docs/conf.py

@@ -20,14 +20,14 @@
 
 sys.path.insert(0, os.path.abspath("../source/isaaclab"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab/isaaclab"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_assets"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_assets/isaaclab_assets"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_tasks"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_tasks/isaaclab_tasks"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_rl"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_rl/isaaclab_rl"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic/isaaclab_mimic"))
-sys.path.insert(0, os.path.abspath("../source/isaaclab_assets"))
-sys.path.insert(0, os.path.abspath("../source/isaaclab_assets/isaaclab_assets"))
 
 # -- Project information -----------------------------------------------------
 
@@ -124,11 +124,11 @@
     "python": ("https://docs.python.org/3", None),
     "numpy": ("https://numpy.org/doc/stable/", None),
     "trimesh": ("https://trimesh.org/", None),
-    "torch": ("https://pytorch.org/docs/stable/", None),
+    "torch": ("https://docs.pytorch.org/docs/stable/", None),
     "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/5.1.0/py/", None),
     "gymnasium": ("https://gymnasium.farama.org/", None),
     "warp": ("https://nvidia.github.io/warp/", None),
-    "dev-guide": ("https://docs.omniverse.nvidia.com/dev-guide/latest", None),
+    "omniverse": ("https://docs.omniverse.nvidia.com/dev-guide/latest", None),
 }
 
 # Add any paths that contain templates here, relative to this directory.

docs/source/api/lab_mimic/isaaclab_mimic.envs.rst

@@ -7,20 +7,138 @@
 
   .. autosummary::
 
-    FrankaCubeStackIKRelMimicEnv
-    FrankaCubeStackIKRelMimicEnvCfg
+    isaaclab_mimic.envs.franka_stack_ik_rel_mimic_env.FrankaCubeStackIKRelMimicEnv
+    isaaclab_mimic.envs.franka_stack_ik_rel_mimic_env_cfg.FrankaCubeStackIKRelMimicEnvCfg
+    isaaclab_mimic.envs.franka_stack_ik_abs_mimic_env.FrankaCubeStackIKAbsMimicEnv
+    isaaclab_mimic.envs.franka_stack_ik_abs_mimic_env_cfg.FrankaCubeStackIKAbsMimicEnvCfg
+    isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env.RmpFlowGalbotCubeStackRelMimicEnv
+    isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackRelMimicEnvCfg
+    isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackRelMimicEnvCfg
+    isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env.RmpFlowGalbotCubeStackAbsMimicEnv
+    isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackAbsMimicEnvCfg
+    isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackAbsMimicEnvCfg
+    isaaclab_mimic.envs.pick_place_mimic_env.PickPlaceRelMimicEnv
+    isaaclab_mimic.envs.pick_place_mimic_env.PickPlaceAbsMimicEnv
+    isaaclab_mimic.envs.agibot_place_upright_mug_mimic_env_cfg.RmpFlowAgibotPlaceUprightMugMimicEnvCfg
+    isaaclab_mimic.envs.agibot_place_toy2box_mimic_env_cfg.RmpFlowAgibotPlaceToy2BoxMimicEnvCfg
+
+Franka Environments
+-------------------
 
 Franka Cube Stack IK Rel Mimic Env
-----------------------------------
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-.. autoclass:: FrankaCubeStackIKRelMimicEnv
+.. autoclass:: isaaclab_mimic.envs.franka_stack_ik_rel_mimic_env.FrankaCubeStackIKRelMimicEnv
   :members:
   :inherited-members:
+  :show-inheritance:
 
 Franka Cube Stack IK Rel Mimic Env Cfg
---------------------------------------
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.franka_stack_ik_rel_mimic_env_cfg.FrankaCubeStackIKRelMimicEnvCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Franka Cube Stack IK Abs Mimic Env
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.franka_stack_ik_abs_mimic_env.FrankaCubeStackIKAbsMimicEnv
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Franka Cube Stack IK Abs Mimic Env Cfg
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.franka_stack_ik_abs_mimic_env_cfg.FrankaCubeStackIKAbsMimicEnvCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Galbot Environments
+-------------------
+
+Galbot Cube Stack Rel Mimic Env (RmpFlow)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env.RmpFlowGalbotCubeStackRelMimicEnv
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Galbot Left Arm Gripper Cube Stack Rel Mimic Env Cfg
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackRelMimicEnvCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Galbot Right Arm Suction Cube Stack Rel Mimic Env Cfg
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackRelMimicEnvCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Galbot Cube Stack Abs Mimic Env (RmpFlow)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env.RmpFlowGalbotCubeStackAbsMimicEnv
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Galbot Left Arm Gripper Cube Stack Abs Mimic Env Cfg
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackAbsMimicEnvCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Galbot Right Arm Suction Cube Stack Abs Mimic Env Cfg
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackAbsMimicEnvCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Agibot Environments
+-------------------
+
+Pick Place Rel Mimic Env
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.pick_place_mimic_env.PickPlaceRelMimicEnv
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Pick Place Abs Mimic Env
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.pick_place_mimic_env.PickPlaceAbsMimicEnv
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Agibot Place Upright Mug Mimic Env Cfg
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: isaaclab_mimic.envs.agibot_place_upright_mug_mimic_env_cfg.RmpFlowAgibotPlaceUprightMugMimicEnvCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+Agibot Place Toy2Box Mimic Env Cfg
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-.. autoclass:: FrankaCubeStackIKRelMimicEnvCfg
+.. autoclass:: isaaclab_mimic.envs.agibot_place_toy2box_mimic_env_cfg.RmpFlowAgibotPlaceToy2BoxMimicEnvCfg
   :members:
   :inherited-members:
   :show-inheritance:

docs/source/overview/developer-guide/vs_code.rst

@@ -75,3 +75,20 @@ and selecting ``Python: Select Interpreter``.
 
 For more information on how to set python interpreter for VSCode, please
 refer to the `VSCode documentation <https://code.visualstudio.com/docs/python/environments#_working-with-python-interpreters>`_.
+
+
+Setting up formatting and linting
+---------------------------------
+
+We use `black <https://black.readthedocs.io/en/stable/>`_ as a formatter and `flake8 <https://flake8.pycqa.org/en/latest/>`_ as a linter. These are configured in the ``.vscode/settings.json`` file:
+
+.. code-block:: json
+
+   {
+      "black-formatter.args": ["--line-length", "120", "--unstable"],
+      "flake8.enabled": true,
+      "flake8.args": ["--config", "${workspaceFolder}/pyproject.toml"],
+   }
+
+The black formatter will automatically format your code to match the project's style guide (120 character line length).
+The flake8 linter will show warnings and errors in your code to help you follow Python best practices and the project's coding standards.

pyproject.toml

@@ -7,6 +7,46 @@
 line-length = 120
 target-version = ["py311"]
 preview = true
+unstable = true
+
+[tool.flake8]
+show-source = true
+statistics = true
+
+per-file-ignores = [
+  "*/__init__.py:F401",
+]
+
+ignore = [
+  "E402",   # Module level import not at top of file
+  "E501",   # Line too long
+  "F403",   # Unable to detect undefined names
+  "W503",   # Line break before binary operator
+  "E203",   # Whitespace before ':' (Black conflict)
+  "D401",   # First line should be in imperative mood
+  "R504",   # Unnecessary variable assignment before return
+  "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.
+  "SIM118", # Checks for key-existence checks against dict.keys() calls.
+]
+
+max-line-length = 120
+max-complexity = 30
+
+exclude = [
+  "_**",
+  ".vscode",
+  ".git",
+  "docs/**",
+]
+
+# docstrings
+docstring-convention = "google"
+
+# annotations
+suppress-none-returning = true
+allow-star-arg-any = true
 
 [tool.isort]
 

source/isaaclab/isaaclab/controllers/config/rmp_flow.py

@@ -10,12 +10,18 @@
 from isaaclab.controllers.rmp_flow import RmpFlowControllerCfg
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
+# Directory on Nucleus Server for RMP-Flow assets (URDFs, collision models, etc.)
 ISAACLAB_NUCLEUS_RMPFLOW_DIR = os.path.join(ISAACLAB_NUCLEUS_DIR, "Controllers", "RmpFlowAssets")
 
 # Note: RMP-Flow config files for supported robots are stored in the motion_generation extension
-_RMP_CONFIG_DIR = os.path.join(
-    get_extension_path_from_name("isaacsim.robot_motion.motion_generation"), "motion_policy_configs"
-)
+# We need to move it here for doc building purposes.
+try:
+    _RMP_CONFIG_DIR = os.path.join(
+        get_extension_path_from_name("isaacsim.robot_motion.motion_generation"),
+        "motion_policy_configs",
+    )
+except Exception:
+    _RMP_CONFIG_DIR = ""
 
 # Path to current directory
 _CUR_DIR = os.path.dirname(os.path.realpath(__file__))