EverNorif · Nov 28, 2025 · Nov 28, 2025 · Nov 28, 2025
diff --git a/.flake8 b/.flake8
@@ -12,7 +12,7 @@ per-file-ignores=*/__init__.py:F401
 # 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.
-ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117,SIM118
+ignore=E402,E501,E704,W503,E203,D401,R504,R505,SIM102,SIM117,SIM118
 max-line-length = 120
 max-complexity = 30
 exclude=_*,.vscode,.git,docs/**

diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
@@ -61,4 +61,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v4
+        uses: actions/deploy-pages@v4
diff --git a/.github/workflows/test-deploy.yml b/.github/workflows/test-deploy.yml
@@ -33,4 +33,4 @@ jobs:
       - name: Install
         run: npm ci
       - name: Build
-        run: npm run build
+        run: npm run build
diff --git a/.gitignore b/.gitignore
@@ -76,4 +76,4 @@ assets/robots/*
 !assets/robots/.gitkeep
 
 # greenscreen
-greenscreen/*
+greenscreen/*
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -45,34 +45,12 @@ repos:
       - id: codespell
         additional_dependencies:
         - tomli
-        exclude: "CONTRIBUTORS.md|docs/source/setup/walkthrough/concepts_env_design.rst"
+        exclude: "CONTRIBUTORS.md|docs/source/setup/walkthrough/concepts_env_design.rst|docs/package-lock.json"
   # FIXME: Figure out why this is getting stuck under VPN.
   # - repo: https://github.com/RobertCraigie/pyright-python
   #   rev: v1.1.315
   #   hooks:
   #   - id: pyright
-  - repo: https://github.com/Lucas-C/pre-commit-hooks
-    rev: v1.5.1
-    hooks:
-      - id: insert-license
-        files: \.py$
-        args:
-          # - --remove-header    # Remove existing license headers. Useful when updating license.
-          - --license-filepath
-          - .github/LICENSE_HEADER.txt
-          - --use-current-year
-        exclude: "source/isaaclab_mimic/|scripts/imitation_learning/isaaclab_mimic/"
-  # Apache 2.0 license for mimic files
-  - repo: https://github.com/Lucas-C/pre-commit-hooks
-    rev: v1.5.1
-    hooks:
-      - id: insert-license
-        files: ^(source/isaaclab_mimic|scripts/imitation_learning/isaaclab_mimic)/.*\.py$
-        args:
-          # - --remove-header    # Remove existing license headers. Useful when updating license.
-          - --license-filepath
-          - .github/LICENSE_HEADER_MIMIC.txt
-          - --use-current-year
   - repo: https://github.com/pre-commit/pygrep-hooks
     rev: v1.10.0
     hooks:

diff --git a/docs/README.md b/docs/README.md
@@ -42,5 +42,5 @@ GIT_USER=<Your GitHub username> yarn deploy
 
 If you are using GitHub pages for hosting, this command is a convenient way to build the website and push to the `gh-pages` branch.
 
->[!NOTE] 
-> The LeIsaac repository is already configured with GitHub Actions. You only need to modify the relevant documents, verify the results locally, and then submit a PR; manual deployment is not necessary.
+>[!NOTE]
+> The LeIsaac repository is already configured with GitHub Actions. You only need to modify the relevant documents, verify the results locally, and then submit a PR; manual deployment is not necessary.
diff --git a/docs/docs/docs/features/digitaltwin_env.md b/docs/docs/docs/features/digitaltwin_env.md
@@ -3,7 +3,7 @@
 
 Inspired by the greenscreening functionality from [SIMPLER](https://simpler-env.github.io/) and [ManiSkill](https://github.com/haosulab/ManiSkill), we have implemented DigitalTwin Env. This feature allows you to replace the background in simulation environments with real background images while preserving the foreground elements such as robotic arms and interactive objects. This approach significantly reduces the gap between simulation and reality, enabling better sim2real transfer.
 
-To use this feature, simply create a task configuration class that inherits from `ManagerBasedRLDigitalTwinEnvCfg` and launch it through the corresponding environment. In the configuration class, you can specify relevant parameters including overlay_mode, background images path, and foreground environment components to preserve. 
+To use this feature, simply create a task configuration class that inherits from `ManagerBasedRLDigitalTwinEnvCfg` and launch it through the corresponding environment. In the configuration class, you can specify relevant parameters including overlay_mode, background images path, and foreground environment components to preserve.
 
 :::info
 For usage examples, please refer to the sample task: [LiftCubeDigitalTwinEnvCfg](https://github.com/LightwheelAI/leisaac/blob/main/source/leisaac/leisaac/tasks/lift_cube/lift_cube_env_cfg.py).

diff --git a/docs/docs/docs/features/envhub_support.md b/docs/docs/docs/features/envhub_support.md
@@ -22,7 +22,7 @@ conda activate leisaac_envhub
 
 conda install -c "nvidia/label/cuda-12.8.1" cuda-toolkit
 pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
-pip install 'leisaac[isaaclab] @ git+https://github.com/LightwheelAI/leisaac.git#subdirectory=source/leisaac' --extra-index-url https://pypi.nvidia.com  
+pip install 'leisaac[isaaclab] @ git+https://github.com/LightwheelAI/leisaac.git#subdirectory=source/leisaac' --extra-index-url https://pypi.nvidia.com
 
 # Install lerobot
 pip install lerobot==0.4.1
@@ -78,7 +78,7 @@ You should see the SO101 arm swinging under purely random commands.
 
 ### Teleoperation
 
-LeRobot’s teleoperation stack can drive the simulated arm. 
+LeRobot’s teleoperation stack can drive the simulated arm.
 
 Connect the SO101 Leader controller, run the calibration command below.
 

diff --git a/docs/docs/docs/getting_started/installation.md b/docs/docs/docs/getting_started/installation.md
@@ -17,7 +17,7 @@ conda install -c "nvidia/label/cuda-12.8.1" cuda-toolkit
 pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
 
 # Install LeIsaac and IsaacLab/IsaacSim extras
-pip install 'leisaac[isaaclab] @ git+https://github.com/LightwheelAI/leisaac.git#subdirectory=source/leisaac' --extra-index-url https://pypi.nvidia.com   
+pip install 'leisaac[isaaclab] @ git+https://github.com/LightwheelAI/leisaac.git#subdirectory=source/leisaac' --extra-index-url https://pypi.nvidia.com
 ```
 
 ::::tip
@@ -63,7 +63,7 @@ pip install -e source/leisaac
 ```
 
 ::::tip
-The steps above are essentially the same as the official IsaacLab documentation; please adjust according to the versions you use. Below is the compatibility between LeIsaac and IsaacLab and the related version dependencies. 
+The steps above are essentially the same as the official IsaacLab documentation; please adjust according to the versions you use. Below is the compatibility between LeIsaac and IsaacLab and the related version dependencies.
 
 If you are using a 50-series GPU, we recommend using IsaacSim 5.0+ and IsaacLab `v2.2.1+`. We have tested on IsaacSim 5.0 and it works properly.
 
@@ -107,7 +107,7 @@ Below are the download links for the scenes we provide. For more high-quality sc
 You can also download scenes from [huggingface](https://huggingface.co/LightwheelAI/leisaac_env/tree/main), which be stored in the `assets` directory.
 ::::
 
-## 3. Device Setup 
+## 3. Device Setup
 
 We use the SO101Leader as the teleoperation device. Please follow the [official documentation](https://huggingface.co/docs/lerobot/so101) for connection and configuration.
 

diff --git a/docs/docs/docs/getting_started/policy_support.md b/docs/docs/docs/getting_started/policy_support.md
@@ -55,7 +55,7 @@ python scripts/evaluation/policy_inference.py \
 
 - `--episode_length_s`: Episode length in seconds (default: `60`).
 
-- `--eval_rounts`: Number of evaluation rounds. 0 means don't add time out termination, policy will run until success or manual reset (default: `0`) 
+- `--eval_rounts`: Number of evaluation rounds. 0 means don't add time out termination, policy will run until success or manual reset (default: `0`)
 
 - `--policy_type`: Type of policy to use (default: `gr00tn1.5`).
     - now we support `gr00tn1.5`, `lerobot-<model_type>`

diff --git a/docs/docs/resources/available_devices.md b/docs/docs/resources/available_devices.md
@@ -60,4 +60,3 @@ Because keyboard control becomes complicated for dual arms, the Bi-Arm SO101 Fol
 ### Bi-SO101-Leader
 
 Run with `--teleop_device=bi-so101leader` to enable the Bi-SO101 Leader. After configuring both `left_arm_port` and `right_arm_port`, you can operate immediately, and the two simulated arms will reproduce the real bi-arm behavior.
-
diff --git a/docs/docs/resources/available_policy.md b/docs/docs/resources/available_policy.md
@@ -1,6 +1,6 @@
 # Available Policy Inference
 
-This page lists the policy inference methods currently supported by LeIsaac. 
+This page lists the policy inference methods currently supported by LeIsaac.
 
 Depending on your use case, you may need to install additional dependencies to enable inference:
 

diff --git a/docs/docs/resources/available_robots.md b/docs/docs/resources/available_robots.md
@@ -7,4 +7,3 @@ This page lists the robots currently supported by LeIsaac. More LeRobot series r
 | [Single-Arm SO101 Follower](https://huggingface.co/docs/lerobot/so101) | ![Single-Arm SO101](/img/robots/single_arm_so101.png) | Single-arm robotic system based on SO101 Follower platform |
 | [Bi-Arm SO101 Follower](https://huggingface.co/docs/lerobot/so101) | ![Bi-Arm SO101](/img/robots/bi_arm_so101.png) | Dual-arm robotic system based on SO101 Follower platform |
 | *...* |  *...* | More robots coming soon |
-
diff --git a/docs/sidebars.js b/docs/sidebars.js
@@ -21,9 +21,9 @@ const sidebars = {
       type: 'category',
       label: 'Getting Started',
       link: {
-        type: 'generated-index', 
-        slug: '/docs/getting-started', 
-        title: 'Getting Started', 
+        type: 'generated-index',
+        slug: '/docs/getting-started',
+        title: 'Getting Started',
         description: 'LeIsaac getting started overview and quick guide.',
       },
       items: [
@@ -58,8 +58,8 @@ const sidebars = {
       label: 'Extra Features',
       link: {
         type: 'generated-index',
-        slug: '/docs/features', 
-        title: 'Extra Features', 
+        slug: '/docs/features',
+        title: 'Extra Features',
         description: 'We also provide some additional features. You can refer to the following instructions to try them out.'
       },
       items: [
@@ -89,8 +89,8 @@ const sidebars = {
       label: 'Cloud Simulation',
       link: {
         type: 'generated-index',
-        slug: '/docs/cloud_simulation', 
-        title: 'Cloud Simulation', 
+        slug: '/docs/cloud_simulation',
+        title: 'Cloud Simulation',
         description: 'Using LeIsaac on cloud platforms.'
       },
       items: [
Original file line number	Diff line number	Diff line change
Expand Up		@@ -60,4 +60,3 @@ Because keyboard control becomes complicated for dual arms, the Bi-Arm SO101 Fol
		### Bi-SO101-Leader

		Run with `--teleop_device=bi-so101leader` to enable the Bi-SO101 Leader. After configuring both `left_arm_port` and `right_arm_port`, you can operate immediately, and the two simulated arms will reproduce the real bi-arm behavior.
Original file line number	Diff line number	Diff line change
Expand Up		@@ -7,4 +7,3 @@ This page lists the robots currently supported by LeIsaac. More LeRobot series r
		\| [Single-Arm SO101 Follower](https://huggingface.co/docs/lerobot/so101) \| ![Single-Arm SO101](/img/robots/single_arm_so101.png) \| Single-arm robotic system based on SO101 Follower platform \|
		\| [Bi-Arm SO101 Follower](https://huggingface.co/docs/lerobot/so101) \| ![Bi-Arm SO101](/img/robots/bi_arm_so101.png) \| Dual-arm robotic system based on SO101 Follower platform \|
		\| ... \| ... \| More robots coming soon \|