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"],
     // 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,

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 = [
+  "_isaac_sim/**",
+  ".vscode",
+  ".git",
+  "docs/**",
+]
+
+# docstrings
+docstring-convention = "google"
+
+# annotations
+suppress-none-returning = true
+allow-star-arg-any = true
 
 [tool.isort]
 

source/isaaclab_mimic/isaaclab_mimic/envs/__init__.py

@@ -7,63 +7,55 @@
 
 import gymnasium as gym
 
-from .franka_bin_stack_ik_rel_mimic_env_cfg import FrankaBinStackIKRelMimicEnvCfg
-from .franka_stack_ik_abs_mimic_env import FrankaCubeStackIKAbsMimicEnv
-from .franka_stack_ik_abs_mimic_env_cfg import FrankaCubeStackIKAbsMimicEnvCfg
-from .franka_stack_ik_rel_blueprint_mimic_env_cfg import FrankaCubeStackIKRelBlueprintMimicEnvCfg
-from .franka_stack_ik_rel_mimic_env import FrankaCubeStackIKRelMimicEnv
-from .franka_stack_ik_rel_mimic_env_cfg import FrankaCubeStackIKRelMimicEnvCfg
-from .franka_stack_ik_rel_skillgen_env_cfg import FrankaCubeStackIKRelSkillgenEnvCfg
-from .franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg import FrankaCubeStackIKRelVisuomotorCosmosMimicEnvCfg
-from .franka_stack_ik_rel_visuomotor_mimic_env_cfg import FrankaCubeStackIKRelVisuomotorMimicEnvCfg
-
 ##
 # Inverse Kinematics - Relative Pose Control
 ##
 
 gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Mimic-v0",
-    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
+    entry_point=f"{__name__}.franka_stack_ik_rel_mimic_env:FrankaCubeStackIKRelMimicEnv",
     kwargs={
-        "env_cfg_entry_point": franka_stack_ik_rel_mimic_env_cfg.FrankaCubeStackIKRelMimicEnvCfg,
+        "env_cfg_entry_point": f"{__name__}.franka_stack_ik_rel_mimic_env_cfg:FrankaCubeStackIKRelMimicEnvCfg",
     },
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-Mimic-v0",
-    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
+    entry_point=f"{__name__}.franka_stack_ik_rel_mimic_env:FrankaCubeStackIKRelMimicEnv",
     kwargs={
-        "env_cfg_entry_point": franka_stack_ik_rel_blueprint_mimic_env_cfg.FrankaCubeStackIKRelBlueprintMimicEnvCfg,
+        "env_cfg_entry_point": (
+            f"{__name__}.franka_stack_ik_rel_blueprint_mimic_env_cfg:FrankaCubeStackIKRelBlueprintMimicEnvCfg"
+        ),
     },
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Abs-Mimic-v0",
-    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKAbsMimicEnv",
+    entry_point=f"{__name__}.franka_stack_ik_abs_mimic_env:FrankaCubeStackIKAbsMimicEnv",
     kwargs={
-        "env_cfg_entry_point": franka_stack_ik_abs_mimic_env_cfg.FrankaCubeStackIKAbsMimicEnvCfg,
+        "env_cfg_entry_point": f"{__name__}.franka_stack_ik_abs_mimic_env_cfg:FrankaCubeStackIKAbsMimicEnvCfg",
     },
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Mimic-v0",
-    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
+    entry_point=f"{__name__}.franka_stack_ik_rel_mimic_env:FrankaCubeStackIKRelMimicEnv",
     kwargs={
-        "env_cfg_entry_point": franka_stack_ik_rel_visuomotor_mimic_env_cfg.FrankaCubeStackIKRelVisuomotorMimicEnvCfg,
+        "env_cfg_entry_point": (
+            f"{__name__}.franka_stack_ik_rel_visuomotor_mimic_env_cfg:FrankaCubeStackIKRelVisuomotorMimicEnvCfg"
+        ),
     },
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos-Mimic-v0",
-    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
+    entry_point=f"{__name__}.franka_stack_ik_rel_mimic_env:FrankaCubeStackIKRelMimicEnv",
     kwargs={
-        "env_cfg_entry_point": (
-            franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.FrankaCubeStackIKRelVisuomotorCosmosMimicEnvCfg
-        ),
+        "env_cfg_entry_point": f"{__name__}.franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg:FrankaCubeStackIKRelVisuomotorCosmosMimicEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -75,18 +67,18 @@
 
 gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Skillgen-v0",
-    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
+    entry_point=f"{__name__}.franka_stack_ik_rel_mimic_env:FrankaCubeStackIKRelMimicEnv",
     kwargs={
-        "env_cfg_entry_point": franka_stack_ik_rel_skillgen_env_cfg.FrankaCubeStackIKRelSkillgenEnvCfg,
+        "env_cfg_entry_point": f"{__name__}.franka_stack_ik_rel_skillgen_env_cfg:FrankaCubeStackIKRelSkillgenEnvCfg",
     },
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-Stack-Cube-Bin-Franka-IK-Rel-Mimic-v0",
-    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
+    entry_point=f"{__name__}.franka_stack_ik_rel_mimic_env:FrankaCubeStackIKRelMimicEnv",
     kwargs={
-        "env_cfg_entry_point": franka_bin_stack_ik_rel_mimic_env_cfg.FrankaBinStackIKRelMimicEnvCfg,
+        "env_cfg_entry_point": f"{__name__}.franka_bin_stack_ik_rel_mimic_env_cfg:FrankaBinStackIKRelMimicEnvCfg",
     },
     disable_env_checker=True,
 )

source/isaaclab_mimic/isaaclab_mimic/envs/pinocchio_envs/__init__.py

@@ -7,49 +7,43 @@
 
 import gymnasium as gym
 
-from .exhaustpipe_gr1t2_mimic_env_cfg import ExhaustPipeGR1T2MimicEnvCfg
-from .locomanipulation_g1_mimic_env import LocomanipulationG1MimicEnv
-from .locomanipulation_g1_mimic_env_cfg import LocomanipulationG1MimicEnvCfg
-from .nutpour_gr1t2_mimic_env_cfg import NutPourGR1T2MimicEnvCfg
-from .pickplace_gr1t2_mimic_env import PickPlaceGR1T2MimicEnv
-from .pickplace_gr1t2_mimic_env_cfg import PickPlaceGR1T2MimicEnvCfg
-from .pickplace_gr1t2_waist_enabled_mimic_env_cfg import PickPlaceGR1T2WaistEnabledMimicEnvCfg
-
 gym.register(
     id="Isaac-PickPlace-GR1T2-Abs-Mimic-v0",
-    entry_point="isaaclab_mimic.envs.pinocchio_envs:PickPlaceGR1T2MimicEnv",
+    entry_point=f"{__name__}.pickplace_gr1t2_mimic_env:PickPlaceGR1T2MimicEnv",
     kwargs={
-        "env_cfg_entry_point": pickplace_gr1t2_mimic_env_cfg.PickPlaceGR1T2MimicEnvCfg,
+        "env_cfg_entry_point": f"{__name__}.pickplace_gr1t2_mimic_env_cfg:PickPlaceGR1T2MimicEnvCfg",
     },
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-PickPlace-GR1T2-WaistEnabled-Abs-Mimic-v0",
-    entry_point="isaaclab_mimic.envs.pinocchio_envs:PickPlaceGR1T2MimicEnv",
+    entry_point=f"{__name__}.pickplace_gr1t2_mimic_env:PickPlaceGR1T2MimicEnv",
     kwargs={
-        "env_cfg_entry_point": pickplace_gr1t2_waist_enabled_mimic_env_cfg.PickPlaceGR1T2WaistEnabledMimicEnvCfg,
+        "env_cfg_entry_point": (
+            f"{__name__}.pickplace_gr1t2_waist_enabled_mimic_env_cfg:PickPlaceGR1T2WaistEnabledMimicEnvCfg"
+        ),
     },
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-NutPour-GR1T2-Pink-IK-Abs-Mimic-v0",
-    entry_point="isaaclab_mimic.envs.pinocchio_envs:PickPlaceGR1T2MimicEnv",
-    kwargs={"env_cfg_entry_point": nutpour_gr1t2_mimic_env_cfg.NutPourGR1T2MimicEnvCfg},
+    entry_point=f"{__name__}.pickplace_gr1t2_mimic_env:PickPlaceGR1T2MimicEnv",
+    kwargs={"env_cfg_entry_point": f"{__name__}.nutpour_gr1t2_mimic_env_cfg:NutPourGR1T2MimicEnvCfg"},
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-ExhaustPipe-GR1T2-Pink-IK-Abs-Mimic-v0",
-    entry_point="isaaclab_mimic.envs.pinocchio_envs:PickPlaceGR1T2MimicEnv",
-    kwargs={"env_cfg_entry_point": exhaustpipe_gr1t2_mimic_env_cfg.ExhaustPipeGR1T2MimicEnvCfg},
+    entry_point=f"{__name__}.pickplace_gr1t2_mimic_env:PickPlaceGR1T2MimicEnv",
+    kwargs={"env_cfg_entry_point": f"{__name__}.exhaustpipe_gr1t2_mimic_env_cfg:ExhaustPipeGR1T2MimicEnvCfg"},
     disable_env_checker=True,
 )
 
 gym.register(
     id="Isaac-Locomanipulation-G1-Abs-Mimic-v0",
-    entry_point="isaaclab_mimic.envs.pinocchio_envs:LocomanipulationG1MimicEnv",
-    kwargs={"env_cfg_entry_point": locomanipulation_g1_mimic_env_cfg.LocomanipulationG1MimicEnvCfg},
+    entry_point=f"{__name__}.locomanipulation_g1_mimic_env:LocomanipulationG1MimicEnv",
+    kwargs={"env_cfg_entry_point": f"{__name__}.locomanipulation_g1_mimic_env_cfg:LocomanipulationG1MimicEnvCfg"},
     disable_env_checker=True,
 )

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/__init__.py

@@ -51,7 +51,9 @@
     },
 )
 
-### Vision
+# -------
+# Vision
+# -------
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Vision-Direct-v0",