Adds preview features for black formatter (#192)

# Description

Adds `--preview` feature to the black formatter which also takes care of
the string representations in the code. This feature will become the
default setting in the next release of black
(psf/black#1802).

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] 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

.pre-commit-config.yaml

@@ -3,7 +3,7 @@ repos:
     rev: 23.3.0
     hooks:
       - id: black
-        args: ["--line-length", "120"]
+        args: ["--line-length", "120", "--preview"]
   - repo: https://github.com/pycqa/flake8
     rev: 6.0.0
     hooks:

docs/conf.py

@@ -177,7 +177,10 @@
     "use_edit_page_button": True,
     "show_toc_level": 2,
     "use_sidenotes": True,
-    "announcement": "⚠️This is a pre-release version of Orbit. Please report any issues on <a href='https://github.com/NVIDIA-Omniverse/orbit/issues'>GitHub</a>.",
+    "announcement": (
+        "⚠️This is a pre-release version of Orbit. Please report any issues on <a"
+        " href='https://github.com/NVIDIA-Omniverse/orbit/issues'>GitHub</a>."
+    ),
 }
 
 html_show_copyright = True

source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py

@@ -216,9 +216,9 @@ def __init__(self, launcher_args: argparse.Namespace | dict = None, **kwargs):
             if not set(kwargs.keys()).isdisjoint(launcher_args.keys()):
                 overlapping_args = set(kwargs.keys()).intersection(launcher_args.keys())
                 raise ValueError(
-                    f"Input `launcher_args` and `kwargs` both provided common attributes: {overlapping_args}. "
-                    "Please ensure that each argument is supplied to only one of them, as the AppLauncher cannot "
-                    "discern priority between them."
+                    f"Input `launcher_args` and `kwargs` both provided common attributes: {overlapping_args}."
+                    " Please ensure that each argument is supplied to only one of them, as the AppLauncher cannot"
+                    " discern priority between them."
                 )
             launcher_args.update(kwargs)
 
@@ -300,10 +300,10 @@ def add_app_launcher_args(parser: argparse.ArgumentParser) -> None:
         config = vars(known)
         if len(config) == 0:
             print(
-                "[Warn][AppLauncher]: There are no arguments attached to the ArgumentParser object. "
-                "If you have your own arguments, please load your own arguments before calling the "
-                "`AppLauncher.add_app_launcher_args` method. This allows the method to check the validity "
-                "of the arguments and perform checks for argument names."
+                "[Warn][AppLauncher]: There are no arguments attached to the ArgumentParser object."
+                " If you have your own arguments, please load your own arguments before calling the"
+                " `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity"
+                " of the arguments and perform checks for argument names."
             )
         else:
             AppLauncher._check_argparser_config_params(config)
@@ -406,9 +406,9 @@ def _check_argparser_config_params(config: dict) -> None:
         for key, value in config.items():
             if key in applauncher_keys:
                 raise ValueError(
-                    f"The passed ArgParser object already has the field '{key}'. This field will be added by "
-                    "AppLauncher.add_app_launcher_args(), and should not be added directly. Please remove the "
-                    "argument or rename it to a non-conflicting name."
+                    f"The passed ArgParser object already has the field '{key}'. This field will be added by"
+                    " `AppLauncher.add_app_launcher_args()`, and should not be added directly. Please remove the"
+                    " argument or rename it to a non-conflicting name."
                 )
         # check that type of the passed keys are valid
         simulationapp_keys = set(AppLauncher._SIMULATIONAPP_CONFIG_TYPES.keys())
@@ -418,9 +418,9 @@ def _check_argparser_config_params(config: dict) -> None:
                 expected_types = AppLauncher._SIMULATIONAPP_CONFIG_TYPES[key]
                 if type(value) not in set(expected_types):
                     raise ValueError(
-                        f"Invalid value type for the argument '{key}': {given_type}. Expected one of {expected_types}, "
-                        f"if intended to be ingested by the SimulationApp object. Please change the type if this "
-                        "intended for the SimulationApp or change the name of the argument to avoid name conflicts."
+                        f"Invalid value type for the argument '{key}': {given_type}. Expected one of {expected_types},"
+                        " if intended to be ingested by the SimulationApp object. Please change the type if this"
+                        " intended for the SimulationApp or change the name of the argument to avoid name conflicts."
                     )
                 # Print out values which will be used
                 print(f"[INFO][AppLauncher]: The argument '{key}' will be used to configure the SimulationApp.")
@@ -441,22 +441,22 @@ def _config_resolution(self, launcher_args: dict):
         # Value checking on LIVESTREAM
         if livestream_env not in livestream_valid_vals:
             raise ValueError(
-                f"Invalid value for environment variable `LIVESTREAM`: {livestream_env} . "
-                f"Expected: {livestream_valid_vals}."
+                f"Invalid value for environment variable `LIVESTREAM`: {livestream_env} ."
+                f" Expected: {livestream_valid_vals}."
             )
         # We allow livestream kwarg to supersede LIVESTREAM envvar
         if livestream_arg >= 0:
             if livestream_arg in livestream_valid_vals:
                 self._livestream = livestream_arg
                 # print info that we overrode the env-var
                 print(
-                    f"[INFO][AppLauncher]: Input keyword argument `livestream={livestream_arg}` has overridden "
-                    f"the environment variable `LIVESTREAM={livestream_env}`."
+                    f"[INFO][AppLauncher]: Input keyword argument `livestream={livestream_arg}` has overridden"
+                    f" the environment variable `LIVESTREAM={livestream_env}`."
                 )
             else:
                 raise ValueError(
-                    f"Invalid value for input keyword argument `livestream`: {livestream_arg} . "
-                    f"Expected: {livestream_valid_vals}."
+                    f"Invalid value for input keyword argument `livestream`: {livestream_arg} ."
+                    f" Expected: {livestream_valid_vals}."
                 )
         else:
             self._livestream = livestream_env
@@ -472,8 +472,7 @@ def _config_resolution(self, launcher_args: dict):
         # Value checking on HEADLESS
         if headless_env not in headless_valid_vals:
             raise ValueError(
-                f"Invalid value for environment variable `HEADLESS`: {headless_env} . "
-                f"Expected: {headless_valid_vals}."
+                f"Invalid value for environment variable `HEADLESS`: {headless_env} . Expected: {headless_valid_vals}."
             )
         # We allow headless kwarg to supersede HEADLESS envvar if headless_arg does not have the default value
         # Note: Headless is always true when livestreaming
@@ -485,13 +484,13 @@ def _config_resolution(self, launcher_args: dict):
             # inform who has toggled the headless flag
             if self._livestream == livestream_arg:
                 print(
-                    f"[INFO][AppLauncher]: Input keyword argument `livestream={self._livestream}` has implicitly "
-                    f"overridden the environment variable `HEADLESS={headless_env}` to True."
+                    f"[INFO][AppLauncher]: Input keyword argument `livestream={self._livestream}` has implicitly"
+                    f" overridden the environment variable `HEADLESS={headless_env}` to True."
                 )
             elif self._livestream == livestream_env:
                 print(
-                    f"[INFO][AppLauncher]: Environment variable `LIVESTREAM={self._livestream}` has implicitly "
-                    f"overridden the environment variable `HEADLESS={headless_env}` to True."
+                    f"[INFO][AppLauncher]: Environment variable `LIVESTREAM={self._livestream}` has implicitly"
+                    f" overridden the environment variable `HEADLESS={headless_env}` to True."
                 )
         else:
             # Headless needs to be a bool to be ingested by SimulationApp
@@ -515,8 +514,8 @@ def _config_resolution(self, launcher_args: dict):
                 self._ros = ros_arg
                 # print info that we overrode the env-var
                 print(
-                    f"[INFO][AppLauncher]: Input keyword argument `ros={ros_arg}` has overridden "
-                    f"the environment variable `ROS_ENABLED={ros_env}`."
+                    f"[INFO][AppLauncher]: Input keyword argument `ros={ros_arg}` has overridden"
+                    f" the environment variable `ROS_ENABLED={ros_env}`."
                 )
             else:
                 raise ValueError(

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py

@@ -508,8 +508,8 @@ def _process_actuators_cfg(self):
             # check if any joints are found
             if len(joint_names) == 0:
                 raise ValueError(
-                    f"No joints found for actuator group: {actuator_name} with joint name expression: "
-                    f"{actuator_cfg.joint_names_expr}."
+                    f"No joints found for actuator group: {actuator_name} with joint name expression:"
+                    f" {actuator_cfg.joint_names_expr}."
                 )
             # for efficiency avoid indexing when over all indices
             if len(joint_names) == self.num_joints:
@@ -524,8 +524,8 @@ def _process_actuators_cfg(self):
             )
             # log information on actuator groups
             carb.log_info(
-                f"Actuator collection: {actuator_name} with model '{actuator_cfg.class_type.__name__}' and "
-                f"joint names: {joint_names} [{joint_ids}]."
+                f"Actuator collection: {actuator_name} with model '{actuator_cfg.class_type.__name__}' and"
+                f" joint names: {joint_names} [{joint_ids}]."
             )
             # store actuator group
             self.actuators[actuator_name] = actuator

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/utils/kit.py

@@ -448,7 +448,8 @@ def apply_physics_material(prim_path: str, material_path: str, weaker_than_desce
     has_particle_system = prim.IsA(PhysxSchema.PhysxParticleSystem)
     if not (has_collider or has_deformable_body or has_particle_system):
         raise ValueError(
-            f"Cannot apply physics material on prim '{prim_path}'. It is neither a collider, nor a deformable body, nor a particle system."
+            f"Cannot apply physics material on prim '{prim_path}'. It is neither a collider,"
+            " nor a deformable body, nor a particle system."
         )
     # obtain material binding API
     if prim.HasAPI(UsdShade.MaterialBindingAPI):

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/utils/mdp/observation_manager.py

@@ -376,7 +376,10 @@ def _prepare_observation_terms(self):
                     # Think: Check for cases when kwargs are set inside the function?
                     if len(args) > 2:
                         if set(args[2:]) != set(term_params):
-                            msg = f"Observation term '{term_name}' expects parameters: {args[2:]}, but {term_params} provided."
+                            msg = (
+                                f"Observation term '{term_name}' expects parameters: {args[2:]}, but"
+                                f" {term_params} provided."
+                            )
                             raise ValueError(msg)
                     # add function to list
                     self._group_obs_term_names[group_name].append(term_name)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/binary_joint_actions.py

@@ -52,7 +52,8 @@ def __init__(self, cfg: actions_cfg.BinaryJointActionCfg, env: BaseEnv) -> None:
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
         carb.log_info(
-            f"Resolved joint names for the action term {self.__class__.__name__}: {self._joint_names} [{self._joint_ids}]"
+            f"Resolved joint names for the action term {self.__class__.__name__}:"
+            f" {self._joint_names} [{self._joint_ids}]"
         )
 
         # create tensors for raw and processed actions

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions.py

@@ -59,7 +59,8 @@ def __init__(self, cfg: actions_cfg.JointActionCfg, env: BaseEnv) -> None:
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
         carb.log_info(
-            f"Resolved joint names for the action term {self.__class__.__name__}: {self._joint_names} [{self._joint_ids}]"
+            f"Resolved joint names for the action term {self.__class__.__name__}:"
+            f" {self._joint_names} [{self._joint_ids}]"
         )
 
         # Avoid indexing across all joints for efficiency

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/non_holonomic_actions.py

@@ -88,7 +88,8 @@ def __init__(self, cfg: actions_cfg.NonHolonomicActionCfg, env: BaseEnv):
         self._joint_names = [x_joint_name[0], y_joint_name[0], yaw_joint_name[0]]
         # log info for debugging
         carb.log_info(
-            f"Resolved joint names for the action term {self.__class__.__name__}: {self._joint_names} [{self._joint_ids}]"
+            f"Resolved joint names for the action term {self.__class__.__name__}:"
+            f" {self._joint_names} [{self._joint_ids}]"
         )
         carb.log_info(
             f"Resolved body name for the action term {self.__class__.__name__}: {self._body_name} [{self._body_idx}]"

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/task_space_actions.py

@@ -68,7 +68,8 @@ def __init__(self, cfg: actions_cfg.DifferentialInverseKinematicsActionCfg, env:
 
         # log info for debugging
         carb.log_info(
-            f"Resolved joint names for the action term {self.__class__.__name__}: {self._joint_names} [{self._joint_ids}]"
+            f"Resolved joint names for the action term {self.__class__.__name__}:"
+            f" {self._joint_names} [{self._joint_ids}]"
         )
         carb.log_info(
             f"Resolved body name for the action term {self.__class__.__name__}: {self._body_name} [{self._body_idx}]"

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/action_manager.py

@@ -254,7 +254,8 @@ def _prepare_terms(self):
             # check valid type
             if not isinstance(term_cfg, ActionTermCfg):
                 raise TypeError(
-                    f"Configuration for the term '{term_name}' is not of type ActionTermCfg. Received '{type(term_cfg)}'."
+                    f"Configuration for the term '{term_name}' is not of type ActionTermCfg."
+                    f" Received: '{type(term_cfg)}'."
                 )
             # create the action term
             term = term_cfg.class_type(term_cfg, self._env)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/curriculum_manager.py

@@ -148,7 +148,8 @@ def _prepare_terms(self):
             # check if the term is a valid term config
             if not isinstance(term_cfg, CurriculumTermCfg):
                 raise TypeError(
-                    f"Configuration for the term '{term_name}' is not of type CurriculumTermCfg. Received '{type(term_cfg)}'."
+                    f"Configuration for the term '{term_name}' is not of type CurriculumTermCfg."
+                    f" Received: '{type(term_cfg)}'."
                 )
             # resolve common parameters
             self._resolve_common_term_cfg(term_name, term_cfg, min_argc=2)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_base.py

@@ -112,7 +112,8 @@ def _resolve_common_term_cfg(self, term_name: str, term_cfg: ManagerBaseTermCfg,
         # check if the term is a valid term config
         if not isinstance(term_cfg, ManagerBaseTermCfg):
             raise TypeError(
-                f"Configuration for the term '{term_name}' is not of type ManagerBaseTermCfg. Received '{type(term_cfg)}'."
+                f"Configuration for the term '{term_name}' is not of type ManagerBaseTermCfg."
+                f" Received: '{type(term_cfg)}'."
             )
         # iterate over all the entities and parse the joint and body names
         for key, value in term_cfg.params.items():

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/observation_manager.py

@@ -170,7 +170,8 @@ def _prepare_terms(self):
             # check if the term is a curriculum term
             if not isinstance(group_cfg, ObservationGroupCfg):
                 raise TypeError(
-                    f"Observation group '{group_name}' is not of type 'ObservationGroupCfg'. Received '{type(group_cfg)}'."
+                    f"Observation group '{group_name}' is not of type 'ObservationGroupCfg'."
+                    f" Received: '{type(group_cfg)}'."
                 )
             # initialize list for the group settings
             self._group_obs_term_names[group_name] = list()
@@ -194,7 +195,8 @@ def _prepare_terms(self):
                     continue
                 if not isinstance(term_cfg, ObservationTermCfg):
                     raise TypeError(
-                        f"Configuration for the term '{term_name}' is not of type ObservationTermCfg. Received '{type(term_cfg)}'."
+                        f"Configuration for the term '{term_name}' is not of type ObservationTermCfg."
+                        f" Received: '{type(term_cfg)}'."
                     )
                 # resolve common terms in the config
                 self._resolve_common_term_cfg(f"{group_name}/{term_name}", term_cfg, min_argc=1)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/randomization_manager.py

@@ -128,7 +128,8 @@ def randomize(self, mode: str, env_ids: Sequence[int] | None = None, dt: float |
             if mode == "interval":
                 if dt is None:
                     raise ValueError(
-                        f"Randomization mode '{mode}' requires the time step of the environment to be passed to the randomization manager."
+                        f"Randomization mode '{mode}' requires the time step of the environment"
+                        " to be passed to the randomization manager."
                     )
                 # extract time left for this term
                 time_left = self._interval_mode_time_left[index]
@@ -167,7 +168,8 @@ def _prepare_terms(self):
             # check for valid config type
             if not isinstance(term_cfg, RandomizationTermCfg):
                 raise TypeError(
-                    f"Configuration for the term '{term_name}' is not of type RandomizationTermCfg. Received '{type(term_cfg)}'."
+                    f"Configuration for the term '{term_name}' is not of type RandomizationTermCfg."
+                    f" Received: '{type(term_cfg)}'."
                 )
             # resolve common parameters
             self._resolve_common_term_cfg(term_name, term_cfg, min_argc=2)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py

@@ -159,12 +159,14 @@ def _prepare_terms(self):
             # check for valid config type
             if not isinstance(term_cfg, RewardTermCfg):
                 raise TypeError(
-                    f"Configuration for the term '{term_name}' is not of type RewardTermCfg. Received '{type(term_cfg)}'."
+                    f"Configuration for the term '{term_name}' is not of type RewardTermCfg."
+                    f" Received: '{type(term_cfg)}'."
                 )
             # check for valid weight type
             if not isinstance(term_cfg.weight, (float, int)):
                 raise TypeError(
-                    f"Weight for the term '{term_name}' is not of type float or int. Received '{type(term_cfg.weight)}'."
+                    f"Weight for the term '{term_name}' is not of type float or int."
+                    f" Received: '{type(term_cfg.weight)}'."
                 )
             # resolve common parameters
             self._resolve_common_term_cfg(term_name, term_cfg, min_argc=1)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/termination_manager.py

@@ -161,7 +161,8 @@ def _prepare_terms(self):
             # check for valid config type
             if not isinstance(term_cfg, TerminationTermCfg):
                 raise TypeError(
-                    f"Configuration for the term '{term_name}' is not of type TerminationTermCfg. Received '{type(term_cfg)}'."
+                    f"Configuration for the term '{term_name}' is not of type TerminationTermCfg."
+                    f" Received: '{type(term_cfg)}'."
                 )
             # resolve common parameters
             self._resolve_common_term_cfg(term_name, term_cfg, min_argc=1)