Fixing formatting for usd files and adding pylint configuration

python/mujoco/usd/camera.py

@@ -1,15 +1,27 @@
-from typing import List, Optional, Tuple
-
-import utils as utils_component
-
+# Copyright 2024 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
 import numpy as np
 
 from pxr import Gf
 from pxr import Usd
 from pxr import UsdGeom
 
-class USDCamera:
+import mujoco.usd.utils as utils_component
 
+class USDCamera:
+  """Class that handles the cameras in the USD scene"""
   def __init__(self, stage: Usd.Stage, obj_name: str):
     self.stage = stage
 
@@ -22,7 +34,6 @@ class USDCamera:
     # defining ops required by update function
     self.transform_op = self.usd_xform.AddTransformOp()
 
-    # self.usd_camera.CreateFocalLengthAttr().Set(18.14756) # default in omniverse
     self.usd_camera.CreateFocalLengthAttr().Set(12)
     self.usd_camera.CreateFocusDistanceAttr().Set(400)
 
@@ -31,8 +42,8 @@ class USDCamera:
     self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
 
   def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
-
+    """Updates the position and orientation of the camera in the scene"""
     transformation_mat = utils_component.create_transform_matrix(
         rotation_matrix=cam_mat, translation_vector=cam_pos
     ).T
-    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
+    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)