Ruff formatting

omnigibson/action_primitives/starter_semantic_action_primitives.py

@@ -309,11 +309,9 @@ def __init__(
                 self.robot.controllers["base"], (JointController, DifferentialDriveController)
             ), "StarterSemanticActionPrimitives only works with a JointController or DifferentialDriveController at the robot base."
             if self._base_controller_is_joint:
-                assert not self.robot.controllers[
-                    "base"
-                ].use_delta_commands, (
-                    "StarterSemanticActionPrimitives only works with a base JointController with absolute mode."
-                )
+                assert (
+                    not self.robot.controllers["base"].use_delta_commands
+                ), "StarterSemanticActionPrimitives only works with a base JointController with absolute mode."
 
         self.robot_model = self.robot.model_name
         self.add_context = add_context

omnigibson/controllers/controller_base.py

@@ -451,7 +451,9 @@ def nums2array(nums, dim):
         return (
             nums
             if isinstance(nums, cb.arr_type)
-            else cb.array(nums) if isinstance(nums, Iterable) else cb.ones(dim) * nums
+            else cb.array(nums)
+            if isinstance(nums, Iterable)
+            else cb.ones(dim) * nums
         )
 
     @property

omnigibson/examples/robots/import_custom_robot.py

@@ -410,9 +410,7 @@ def add_sensor(stage, root_prim, sensor_type, link_name, parent_link_name=None,
     link_prim_path = f"{root_prim_path}/{link_name}"
     link_prim_exists = lazy.omni.isaac.core.utils.prims.is_prim_path_valid(link_prim_path)
     if parent_link_prim is not None:
-        assert (
-            not link_prim_exists
-        ), f"Since parent link is defined, link_name {link_name} must be a link that is NOT pre-existing within the robot's set of links!"
+        assert not link_prim_exists, f"Since parent link is defined, link_name {link_name} must be a link that is NOT pre-existing within the robot's set of links!"
         # Manually create a new prim (specified offset)
         create_rigid_prim(
             stage=stage,
@@ -443,9 +441,7 @@ def add_sensor(stage, root_prim, sensor_type, link_name, parent_link_name=None,
 
     else:
         # Otherwise, link prim MUST exist
-        assert (
-            link_prim_exists
-        ), f"Since no parent link is defined, link_name {link_name} must be a link that IS pre-existing within the robot's set of links!"
+        assert link_prim_exists, f"Since no parent link is defined, link_name {link_name} must be a link that IS pre-existing within the robot's set of links!"
 
     # Define functions to generate the desired sensor prim
     if sensor_type == "Camera":

omnigibson/objects/object_base.py

@@ -90,7 +90,9 @@ def __init__(
         load_config["scale"] = (
             scale
             if isinstance(scale, th.Tensor)
-            else th.tensor(scale, dtype=th.float32) if isinstance(scale, Iterable) else scale
+            else th.tensor(scale, dtype=th.float32)
+            if isinstance(scale, Iterable)
+            else scale
         )
         load_config["visible"] = visible
         load_config["visual_only"] = visual_only

omnigibson/robots/robot_base.py

@@ -112,7 +112,9 @@ def __init__(
         self._obs_modalities = (
             obs_modalities
             if obs_modalities == "all"
-            else {obs_modalities} if isinstance(obs_modalities, str) else set(obs_modalities)
+            else {obs_modalities}
+            if isinstance(obs_modalities, str)
+            else set(obs_modalities)
         )  # this will get updated later when we fill in our sensors
         self._proprio_obs = self.default_proprio_obs if proprio_obs == "default" else list(proprio_obs)
         self._sensor_config = sensor_config

omnigibson/robots/two_wheel_robot.py

@@ -120,9 +120,9 @@ def _default_controller_config(self):
         cfg = super()._default_controller_config
 
         # Add differential drive option to base
-        cfg["base"][
-            self._default_base_differential_drive_controller_config["name"]
-        ] = self._default_base_differential_drive_controller_config
+        cfg["base"][self._default_base_differential_drive_controller_config["name"]] = (
+            self._default_base_differential_drive_controller_config
+        )
 
         return cfg
 

omnigibson/systems/micro_particle_system.py

@@ -56,8 +56,8 @@ def set_carb_settings_for_fluid_isosurface():
     min_frame_rate = 60
     # Make sure we have at least 60 FPS before setting "persistent/simulation/minFrameRate" to 60
     assert (
-        1 / og.sim.get_rendering_dt()
-    ) >= min_frame_rate, f"isosurface HQ rendering requires at least {min_frame_rate} FPS; consider increasing rendering_frequency of env_config to {min_frame_rate}."
+        (1 / og.sim.get_rendering_dt()) >= min_frame_rate
+    ), f"isosurface HQ rendering requires at least {min_frame_rate} FPS; consider increasing rendering_frequency of env_config to {min_frame_rate}."
 
     # Settings for Isosurface
     isregistry = lazy.carb.settings.acquire_settings_interface()

omnigibson/utils/profiling_utils.py

@@ -26,7 +26,8 @@ def gpu_in_use_by_this_process(gpu_handle, pid: int) -> bool:
 
     compute_pids = {process.pid for process in pynvml.nvmlDeviceGetComputeRunningProcesses(gpu_handle)}  # type: ignore
     graphics_pids = {
-        process.pid for process in pynvml.nvmlDeviceGetGraphicsRunningProcesses(gpu_handle)  # type: ignore
+        process.pid
+        for process in pynvml.nvmlDeviceGetGraphicsRunningProcesses(gpu_handle)  # type: ignore
     }
 
     pids_using_device = compute_pids | graphics_pids

omnigibson/utils/urdfpy_utils.py

@@ -130,8 +130,9 @@ def _parse_simple_elements(cls, node, path):
                 vs = node.findall(t._TAG)
                 if len(vs) == 0 and r:
                     raise ValueError(
-                        "Missing required subelement(s) of type {} when "
-                        "parsing an object of type {}".format(t.__name__, cls.__name__)
+                        "Missing required subelement(s) of type {} when " "parsing an object of type {}".format(
+                            t.__name__, cls.__name__
+                        )
                     )
                 v = [t._from_xml(n, path) for n in vs]
             kwargs[a] = v