clean up

Author: some45bucks

.gitignore

@@ -63,5 +63,3 @@ _build
 **/runs/*
 **/logs/*
 **/recordings/*
-
-

README.md

@@ -1,7 +1,7 @@
 # For Heterogeneous Agent Reinforcement Learning
 
 <!-- ![GIF 1](withoutpolicy.gif) ![GIF 2](withpolicy.gif) -->
-<!-- 
+<!--
 <div style="display: flex; justify-content: space-around;">
     <img src="withoutpolicy.gif" width="45%">
     <img src="withpolicy.gif" width="45%">

assets/instanceable.py

@@ -1,3 +1,8 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 # Copyright (c) 2018-2022, NVIDIA Corporation
 # All rights reserved.
 #
@@ -126,17 +131,17 @@ def convert_asset_instanceable(asset_usd_path, source_prim_path, save_as_path=No
         omni.usd.get_context().save_stage()
     else:
         omni.usd.get_context().save_as_stage(save_as_path)
-        
+
+
 # to run this code you must open Isaac Sim and run the following code in the Python console
 # go to window -> Python Console
 # then copy and paste the ALL OF THIS CODE IN THIS DOCUMENT
 # make sure to change the paths to the correct paths on your computer
 # this code will convert the grandPiano.usd file to an instanceable asset
-# in saac 4.2 old documention you can learn more:
+# in saac 4.2 old documentation you can learn more:
 # https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html#modifying-existing-assets
 convert_asset_instanceable(
     asset_usd_path="/home/frutiger/Downloads/grandPiano/10384_GrandPiano.usd",
     source_prim_path="/World",
-    save_as_path="/home/frutiger/Downloads/grandPiano/GrandPiano_instanceable.usd"
+    save_as_path="/home/frutiger/Downloads/grandPiano/GrandPiano_instanceable.usd",
 )
-

docs/source/refs/snippets/tutorial_modify_direct_rl_env.py

@@ -6,7 +6,7 @@
 # fmt: off
 
 # [start-init-import]
-from .h1_env import H1Env, H1EnvCfg
+from .h1_env import H1EnvCfg
 # [end-init-import]
 
 # [start-init-register]

run_training.sh

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -10,7 +10,7 @@
 import gymnasium as gym
 
 from . import agents
-from .anymal_c_multi_agent import AnymalCMultiAgentBar,AnymalCMultiAgentFlatEnvCfg, AnymalCMultiAgentRoughEnvCfg
+from .anymal_c_multi_agent import AnymalCMultiAgentBar, AnymalCMultiAgentFlatEnvCfg, AnymalCMultiAgentRoughEnvCfg
 
 ##
 # Register Gym environments.

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c_multi_agent/__init__.py

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c_multi_agent/agents/__init__.py

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause