Fixes code formatting for locomanipulation PR

docs/source/overview/imitation-learning/teleop_imitation.rst

@@ -686,7 +686,7 @@ in the GR00T N1.5 repository.  An example closed-loop policy rollout is shown in
    :figclass: align-center
 
    Simulation rollout of GR00T N1.5 policy finetuned for locomanipulation.
-   
+
 The policy shown above uses the camera image, hand poses, hand joint positions, object pose, and base goal pose as inputs.
 The output of the model is the target base velocity, hand poses, and hand joint positions for the next several timesteps.
 

scripts/imitation_learning/locomanipulation_sdg/generate_data.py

@@ -119,20 +119,16 @@
 from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler
 
 import isaaclab_mimic.locomanipulation_sdg.envs  # noqa: F401
-from isaaclab_mimic.locomanipulation_sdg.envs.locomanipulation_sdg_env import LocomanipulationSDGEnv
 from isaaclab_mimic.locomanipulation_sdg.data_classes import LocomanipulationSDGOutputData
-from isaaclab_mimic.locomanipulation_sdg.path_utils import ParameterizedPath, plan_path
-from isaaclab_mimic.locomanipulation_sdg.scene_utils import RelativePose, place_randomly
-from isaaclab_mimic.locomanipulation_sdg.transform_utils import (
-    transform_inv,
-    transform_mul,
-    transform_relative_pose,
-)
+from isaaclab_mimic.locomanipulation_sdg.envs.locomanipulation_sdg_env import LocomanipulationSDGEnv
 from isaaclab_mimic.locomanipulation_sdg.occupancy_map_utils import (
     OccupancyMap,
     merge_occupancy_maps,
     occupancy_map_add_to_stage,
 )
+from isaaclab_mimic.locomanipulation_sdg.path_utils import ParameterizedPath, plan_path
+from isaaclab_mimic.locomanipulation_sdg.scene_utils import RelativePose, place_randomly
+from isaaclab_mimic.locomanipulation_sdg.transform_utils import transform_inv, transform_mul, transform_relative_pose
 
 from isaaclab_tasks.utils import parse_env_cfg
 
@@ -249,7 +245,10 @@ def load_and_transform_recording_data(
 
 
 def setup_navigation_scene(
-    env: LocomanipulationSDGEnv, input_episode_data: EpisodeData, approach_distance: float, randomize_placement: bool = True
+    env: LocomanipulationSDGEnv,
+    input_episode_data: EpisodeData,
+    approach_distance: float,
+    randomize_placement: bool = True,
 ) -> tuple[OccupancyMap, ParameterizedPath, RelativePose, RelativePose]:
     """Set up the navigation scene with occupancy map and path planning.
 

source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py

@@ -8,18 +8,14 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg
+from isaaclab.envs.common import ViewerCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 from isaaclab.utils.datasets import EpisodeData
-from isaaclab.envs.common import ViewerCfg
 
 from isaaclab_mimic.locomanipulation_sdg.data_classes import LocomanipulationSDGInputData
-from isaaclab_mimic.locomanipulation_sdg.scene_utils import (
-    HasPose,
-    SceneBody,
-    SceneFixture,
-)
+from isaaclab_mimic.locomanipulation_sdg.scene_utils import HasPose, SceneBody, SceneFixture
 
 from isaaclab_tasks.manager_based.locomanipulation.pick_place.locomanipulation_g1_env_cfg import (
     LocomanipulationG1EnvCfg,
@@ -84,16 +80,15 @@ class G1LocomanipulationSDGSceneCfg(LocomanipulationG1SceneCfg):
 @configclass
 class G1LocomanipulationSDGEnvCfg(LocomanipulationG1EnvCfg, LocomanipulationSDGEnvCfg):
     """Configuration for the G1 29DoF environment."""
+
     viewer: ViewerCfg = ViewerCfg(
-        eye=(0.0, 3.0, 1.25),
-        lookat=(0.0, 0.0, 0.5),
-        origin_type="asset_body",
-        asset_name="robot",
-        body_name="pelvis"
+        eye=(0.0, 3.0, 1.25), lookat=(0.0, 0.0, 0.5), origin_type="asset_body", asset_name="robot", body_name="pelvis"
     )
-    
+
     # Scene settings
-    scene: G1LocomanipulationSDGSceneCfg = G1LocomanipulationSDGSceneCfg(num_envs=1, env_spacing=2.5, replicate_physics=True)
+    scene: G1LocomanipulationSDGSceneCfg = G1LocomanipulationSDGSceneCfg(
+        num_envs=1, env_spacing=2.5, replicate_physics=True
+    )
     recorders: LocomanipulationSDGRecorderManagerCfg = LocomanipulationSDGRecorderManagerCfg()
 
     def __post_init__(self):

source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env.py

@@ -9,10 +9,7 @@
 from isaaclab.managers.recorder_manager import RecorderTerm
 from isaaclab.utils.datasets import EpisodeData
 
-from isaaclab_mimic.locomanipulation_sdg.data_classes import (
-    LocomanipulationSDGInputData,
-    LocomanipulationSDGOutputData,
-)
+from isaaclab_mimic.locomanipulation_sdg.data_classes import LocomanipulationSDGInputData, LocomanipulationSDGOutputData
 from isaaclab_mimic.locomanipulation_sdg.scene_utils import HasPose, SceneFixture
 
 

source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/path_utils.py

@@ -8,8 +8,8 @@
 
 from isaacsim.replicator.mobility_gen.impl.path_planner import compress_path, generate_paths
 
-from .scene_utils import HasPose2d
 from .occupancy_map_utils import OccupancyMap
+from .scene_utils import HasPose2d
 
 
 def nearest_point_on_segment(a: torch.Tensor, b: torch.Tensor, c: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor]:

source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/scene_utils.py

@@ -9,8 +9,8 @@
 
 import isaaclab.utils.math as math_utils
 
-from .transform_utils import transform_mul
 from .occupancy_map_utils import OccupancyMap, intersect_occupancy_maps
+from .transform_utils import transform_mul
 
 
 class HasOccupancyMap: