Ensures the code follows the line-length requirements (isaac-sim#4401)

# Description

Previously, we were using black formatter which only checked that the
code followed the desired number of characters.
However, this skipped the docstrings. This MR now enables this feature
for ruff and fixes the docs wherever applicable.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Author: Mayankm96

docker/utils/container_interface.py

@@ -298,8 +298,8 @@ def config(self, output_yaml: Path | None = None):
     """
 
     def _resolve_image_extension(self, yamls: list[str] | None = None, envs: list[str] | None = None):
-        """
-        Resolve the image extension by setting up YAML files, profiles, and environment files for the Docker compose command.
+        """Resolve the image extension by setting up YAML files, profiles, and environment files for the
+        Docker compose command.
 
         Args:
             yamls: A list of yaml files to extend ``docker-compose.yaml`` settings. These are extended in the order

pyproject.toml

@@ -33,8 +33,6 @@ select = [
 # Ignore specific rules (matching your flake8 config)
 ignore = [
     "E402",   # Module level import not at top of file
-    "E501",   # Line too long (handled by formatter)
-    "E203",   # Whitespace before ':' (conflicts with formatter)
     "D401",   # First line should be in imperative mood
     "RET504", # Unnecessary variable assignment before return statement
     "RET505", # Unnecessary elif after return statement

scripts/demos/sensors/tacsl_sensor.py

@@ -12,7 +12,14 @@
 .. code-block:: bash
 
     # Usage
-    python tacsl_sensor.py --use_tactile_rgb --use_tactile_ff --tactile_compliance_stiffness 100.0 --num_envs 16 --contact_object_type nut --save_viz --enable_cameras
+    python scripts/demos/sensors/tacsl_sensor.py \
+        --use_tactile_rgb \
+        --use_tactile_ff \
+        --tactile_compliance_stiffness 100.0 \
+        --num_envs 16 \
+        --contact_object_type nut \
+        --save_viz \
+        --enable_cameras
 
 """
 
@@ -146,12 +153,14 @@ class TactileSensorsSceneCfg(InteractiveSceneCfg):
         friction_coefficient=args_cli.friction_coefficient,
         tangential_stiffness=args_cli.tangential_stiffness,
         # Camera configuration
+        # Note: the camera is already spawned in the scene, properties are set in the
+        # 'gelsight_r15_finger.usd' USD file
         camera_cfg=TiledCameraCfg(
             prim_path="{ENV_REGEX_NS}/Robot/elastomer_tip/cam",
             height=GELSIGHT_R15_CFG.image_height,
             width=GELSIGHT_R15_CFG.image_width,
             data_types=["distance_to_image_plane"],
-            spawn=None,  # the camera is already spawned in the scene, properties are set in the gelsight_r15_finger.usd file
+            spawn=None,
         ),
         # Debug Visualization
         trimesh_vis_tactile_points=args_cli.trimesh_vis_tactile_points,
@@ -362,12 +371,11 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Initialize simulation
+    # Note: We set the gpu_collision_stack_size to prevent buffer overflow in contact-rich environments.
     sim_cfg = sim_utils.SimulationCfg(
         dt=0.005,
         device=args_cli.device,
-        physx=sim_utils.PhysxCfg(
-            gpu_collision_stack_size=2**30,  # Prevent collisionStackSize buffer overflow in contact-rich environments.
-        ),
+        physx=sim_utils.PhysxCfg(gpu_collision_stack_size=2**30),
     )
     sim = sim_utils.SimulationContext(sim_cfg)
 
@@ -377,7 +385,8 @@ def main():
     # Create scene based on contact object type
     if args_cli.contact_object_type == "cube":
         scene_cfg = CubeTactileSceneCfg(num_envs=args_cli.num_envs, env_spacing=0.2)
-        # disabled force field for cube contact object because a SDF collision mesh cannot be created for the Shape Prims
+        # disabled force field for cube contact object because a SDF collision mesh cannot
+        # be created for the Shape Prims
         scene_cfg.tactile_sensor.enable_force_field = False
     elif args_cli.contact_object_type == "nut":
         scene_cfg = NutTactileSceneCfg(num_envs=args_cli.num_envs, env_spacing=0.2)

scripts/imitation_learning/isaaclab_mimic/annotate_demos.py

@@ -47,7 +47,8 @@
 args_cli = parser.parse_args()
 
 if args_cli.enable_pinocchio:
-    # Import pinocchio before AppLauncher to force the use of the version installed by IsaacLab and not the one installed by Isaac Sim
+    # Import pinocchio before AppLauncher to force the use of the version installed
+    # by IsaacLab and not the one installed by Isaac Sim.
     # pinocchio is required by the Pink IK controllers and the GR1T2 retargeter
     import pinocchio  # noqa: F401
 

scripts/imitation_learning/isaaclab_mimic/generate_dataset.py

@@ -50,7 +50,8 @@
 args_cli = parser.parse_args()
 
 if args_cli.enable_pinocchio:
-    # Import pinocchio before AppLauncher to force the use of the version installed by IsaacLab and not the one installed by Isaac Sim
+    # Import pinocchio before AppLauncher to force the use of the version
+    # installed by IsaacLab and not the one installed by Isaac Sim.
     # pinocchio is required by the Pink IK controllers and the GR1T2 retargeter
     import pinocchio  # noqa: F401
 

scripts/imitation_learning/locomanipulation_sdg/generate_data.py

@@ -102,7 +102,8 @@
 args_cli = parser.parse_args()
 
 if args_cli.enable_pinocchio:
-    # Import pinocchio before AppLauncher to force the use of the version installed by IsaacLab and not the one installed by Isaac Sim
+    # Import pinocchio before AppLauncher to force the use of the version
+    # installed by IsaacLab and not the one installed by Isaac Sim.
     # pinocchio is required by the Pink IK controllers and the GR1T2 retargeter
     import pinocchio  # noqa: F401
 

scripts/imitation_learning/robomimic/play.py

@@ -49,7 +49,8 @@
 args_cli = parser.parse_args()
 
 if args_cli.enable_pinocchio:
-    # Import pinocchio before AppLauncher to force the use of the version installed by IsaacLab and not the one installed by Isaac Sim
+    # Import pinocchio before AppLauncher to force the use of the version
+    # installed by IsaacLab and not the one installed by Isaac Sim.
     # pinocchio is required by the Pink IK controllers and the GR1T2 retargeter
     import pinocchio  # noqa: F401
 

scripts/imitation_learning/robomimic/robust_eval.py

@@ -65,7 +65,8 @@
 args_cli = parser.parse_args()
 
 if args_cli.enable_pinocchio:
-    # Import pinocchio before AppLauncher to force the use of the version installed by IsaacLab and not the one installed by Isaac Sim
+    # Import pinocchio before AppLauncher to force the use of the version installed
+    # by IsaacLab and not the one installed by Isaac Sim.
     # pinocchio is required by the Pink IK controllers and the GR1T2 retargeter
     import pinocchio  # noqa: F401
 

scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py

@@ -164,11 +164,12 @@ def process_cluster(cluster_info: dict, ray_head_name: str = "head") -> str:
     For each cluster, check that it is running, and get the Ray head address that will accept jobs.
 
     Args:
-        cluster_info (dict): A dictionary containing cluster information with keys 'cluster', 'pods', and 'namespace'.
-        ray_head_name (str, optional): The name of the ray head container. Defaults to "head".
+        cluster_info: A dictionary containing cluster information with keys 'cluster', 'pods', and 'namespace'.
+        ray_head_name: The name of the ray head container. Defaults to "head".
 
     Returns:
-        str: A string containing the cluster name and its Ray head address, or an error message if the head pod or Ray address is not found.
+        A string containing the cluster name and its Ray head address, or an error message if
+        the head pod or Ray address is not found.
     """
     cluster, pods, namespace = cluster_info
     head_pod = None

scripts/reinforcement_learning/ray/submit_job.py

@@ -46,7 +46,8 @@
     python3 scripts/reinforcement_learning/ray/submit_job.py --aggregate_jobs wrap_resources.py --test
 
     # Example: submitting tasks with specific resources, and supporting pip packages and py_modules
-    # You may use relative paths for task_cfg and py_modules, placing them in the scripts/reinforcement_learning/ray directory, which will be uploaded to the cluster.
+    # You may use relative paths for task_cfg and py_modules, placing them in the
+    # "scripts/reinforcement_learning/ray" directory, which will be uploaded to the cluster.
     python3 scripts/reinforcement_learning/ray/submit_job.py --aggregate_jobs task_runner.py --task_cfg tasks.yaml
 
     # For all command line arguments