Code cleanup

Author: rwiltz

source/isaaclab/isaaclab/devices/device_base.py

@@ -141,18 +141,6 @@ class TrackingTarget(Enum):
         CONTROLLER_LEFT = 3
         CONTROLLER_RIGHT = 4
 
-    class PoseLayout:
-        """Standard pose layout indices and size: [x, y, z, qw, qx, qy, qz]."""
-
-        X = 0
-        Y = 1
-        Z = 2
-        QW = 3
-        QX = 4
-        QY = 5
-        QZ = 6
-        LEN = 7
-
     class MotionControllerDataRowIndex(Enum):
         """Rows in the motion-controller 2x7 array."""
 
@@ -169,9 +157,3 @@ class MotionControllerInputIndex(Enum):
         BUTTON_0 = 4
         BUTTON_1 = 5
         PADDING = 6
-
-    class MotionControllerLayout:
-        """Sizes for motion-controller layout."""
-
-        ROWS = 2
-        INPUTS_LEN = 7

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/__init__.py

@@ -10,11 +10,10 @@
 import os
 
 from . import agents, fixed_base_upper_body_ik_g1_env_cfg, locomanipulation_g1_env_cfg
-from .locomanipulation_g1_env import LocomanipulationG1ManagerBasedRLEnv
 
 gym.register(
     id="Isaac-PickPlace-Locomanipulation-G1-Abs-v0",
-    entry_point=LocomanipulationG1ManagerBasedRLEnv,
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": locomanipulation_g1_env_cfg.LocomanipulationG1EnvCfg,
         "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),