diff --git a/omnigibson/__init__.py b/omnigibson/__init__.py
index 32c474e044..dd99f15089 100644
--- a/omnigibson/__init__.py
+++ b/omnigibson/__init__.py
@@ -1,21 +1,21 @@
+import builtins
 import logging
 import os
 import shutil
 import signal
 import tempfile
-import builtins
+
+from omnigibson.controllers import REGISTERED_CONTROLLERS
+from omnigibson.envs import Environment
 
 # TODO: Need to fix somehow -- omnigibson gets imported first BEFORE we can actually modify the macros
 from omnigibson.macros import gm
-
-from omnigibson.envs import Environment
-from omnigibson.scenes import REGISTERED_SCENES
 from omnigibson.objects import REGISTERED_OBJECTS
 from omnigibson.robots import REGISTERED_ROBOTS
-from omnigibson.controllers import REGISTERED_CONTROLLERS
-from omnigibson.tasks import REGISTERED_TASKS
+from omnigibson.scenes import REGISTERED_SCENES
 from omnigibson.sensors import ALL_SENSOR_MODALITIES
 from omnigibson.simulator import launch_simulator as launch
+from omnigibson.tasks import REGISTERED_TASKS
 
 # Create logger
 logging.basicConfig(format='[%(levelname)s] [%(name)s] %(message)s')
@@ -27,6 +27,7 @@
 
 # Always enable nest_asyncio because MaterialPrim calls asyncio.run()
 import nest_asyncio
+
 nest_asyncio.apply()
 
 __version__ = "1.0.0"
diff --git a/omnigibson/action_primitives/action_primitive_set_base.py b/omnigibson/action_primitives/action_primitive_set_base.py
index 9d842514a2..e6ae318f28 100644
--- a/omnigibson/action_primitives/action_primitive_set_base.py
+++ b/omnigibson/action_primitives/action_primitive_set_base.py
@@ -4,8 +4,8 @@
 from typing import List
 
 from future.utils import with_metaclass
-from omnigibson import Environment
 
+from omnigibson import Environment
 from omnigibson.robots import BaseRobot
 from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
 from omnigibson.tasks.task_base import BaseTask
diff --git a/omnigibson/action_primitives/starter_semantic_action_primitives.py b/omnigibson/action_primitives/starter_semantic_action_primitives.py
index 9058c822c1..1a429c1e7d 100644
--- a/omnigibson/action_primitives/starter_semantic_action_primitives.py
+++ b/omnigibson/action_primitives/starter_semantic_action_primitives.py
@@ -5,50 +5,47 @@
 See provided tiago_primitives.yaml config file for an example. See examples/action_primitives for
 runnable examples.
 """
-from functools import cached_property
 import inspect
 import logging
 import random
-from aenum import IntEnum, auto
+from functools import cached_property
 from math import ceil
-import cv2
-from matplotlib import pyplot as plt
 
+import cv2
 import gym
 import numpy as np
+from aenum import IntEnum, auto
+from matplotlib import pyplot as plt
 from scipy.spatial.transform import Rotation, Slerp
 
 import omnigibson as og
 import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson import object_states
-from omnigibson.action_primitives.action_primitive_set_base import ActionPrimitiveError, ActionPrimitiveErrorGroup, BaseActionPrimitiveSet
-from omnigibson.controllers import JointController, DifferentialDriveController
+from omnigibson.action_primitives.action_primitive_set_base import (
+    ActionPrimitiveError,
+    ActionPrimitiveErrorGroup,
+    BaseActionPrimitiveSet,
+)
+from omnigibson.controllers import DifferentialDriveController, JointController
+from omnigibson.controllers.controller_base import ControlType
 from omnigibson.macros import create_module_macros
-from omnigibson.utils.object_state_utils import sample_cuboid_for_predicate
 from omnigibson.objects.object_base import BaseObject
+from omnigibson.objects.usd_object import USDObject
 from omnigibson.robots import BaseRobot, Fetch, Tiago
 from omnigibson.tasks.behavior_task import BehaviorTask
+from omnigibson.utils.control_utils import FKSolver, IKSolver
+from omnigibson.utils.grasping_planning_utils import get_grasp_poses_for_object_sticky, get_grasp_position_for_open
 from omnigibson.utils.motion_planning_utils import (
-    plan_base_motion,
+    detect_robot_collision_in_sim,
     plan_arm_motion,
     plan_arm_motion_ik,
+    plan_base_motion,
     set_base_and_detect_collision,
-    detect_robot_collision_in_sim
-)
-
-import omnigibson.utils.transform_utils as T
-from omnigibson.utils.control_utils import IKSolver
-from omnigibson.utils.grasping_planning_utils import (
-    get_grasp_poses_for_object_sticky,
-    get_grasp_position_for_open
 )
-from omnigibson.controllers.controller_base import ControlType
-from omnigibson.utils.control_utils import FKSolver
-
+from omnigibson.utils.object_state_utils import sample_cuboid_for_predicate
 from omnigibson.utils.ui_utils import create_module_logger
 
-from omnigibson.objects.usd_object import USDObject
-
 m = create_module_macros(module_path=__file__)
 
 m.DEFAULT_BODY_OFFSET_FROM_FLOOR = 0.05
diff --git a/omnigibson/action_primitives/symbolic_semantic_action_primitives.py b/omnigibson/action_primitives/symbolic_semantic_action_primitives.py
index 8e74428455..6a135cb25a 100644
--- a/omnigibson/action_primitives/symbolic_semantic_action_primitives.py
+++ b/omnigibson/action_primitives/symbolic_semantic_action_primitives.py
@@ -4,17 +4,16 @@
 objects directly into their post-condition states. Useful for learning high-level methods.
 """
 
-from aenum import IntEnum, auto
-
 import numpy as np
-from omnigibson.robots.robot_base import BaseRobot
-from omnigibson.systems.system_base import REGISTERED_SYSTEMS
-from omnigibson.transition_rules import REGISTERED_RULES, TransitionRuleAPI
+from aenum import IntEnum, auto
 
 from omnigibson import object_states
 from omnigibson.action_primitives.action_primitive_set_base import ActionPrimitiveError, ActionPrimitiveErrorGroup
 from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives
 from omnigibson.objects import DatasetObject
+from omnigibson.robots.robot_base import BaseRobot
+from omnigibson.systems.system_base import REGISTERED_SYSTEMS
+from omnigibson.transition_rules import REGISTERED_RULES, TransitionRuleAPI
 
 
 class SymbolicSemanticActionPrimitiveSet(IntEnum):
diff --git a/omnigibson/controllers/__init__.py b/omnigibson/controllers/__init__.py
index 7cdcb65b03..a56c7c54b0 100644
--- a/omnigibson/controllers/__init__.py
+++ b/omnigibson/controllers/__init__.py
@@ -2,18 +2,18 @@
     REGISTERED_CONTROLLERS,
     REGISTERED_LOCOMOTION_CONTROLLERS,
     REGISTERED_MANIPULATION_CONTROLLERS,
-    IsGraspingState,
     ControlType,
+    GripperController,
+    IsGraspingState,
     LocomotionController,
     ManipulationController,
-    GripperController,
 )
 from omnigibson.controllers.dd_controller import DifferentialDriveController
-from omnigibson.controllers.osc_controller import OperationalSpaceController
 from omnigibson.controllers.ik_controller import InverseKinematicsController
 from omnigibson.controllers.joint_controller import JointController
 from omnigibson.controllers.multi_finger_gripper_controller import MultiFingerGripperController
 from omnigibson.controllers.null_joint_controller import NullJointController
+from omnigibson.controllers.osc_controller import OperationalSpaceController
 from omnigibson.utils.python_utils import assert_valid_key
 
 
diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py
index b90a56dbaa..1d5a95aa70 100644
--- a/omnigibson/controllers/controller_base.py
+++ b/omnigibson/controllers/controller_base.py
@@ -3,7 +3,7 @@
 
 import numpy as np
 
-from omnigibson.utils.python_utils import classproperty, assert_valid_key, Serializable, Registerable, Recreatable
+from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, assert_valid_key, classproperty
 
 # Global dicts that will contain mappings
 REGISTERED_CONTROLLERS = dict()
diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py
index 88f5538909..0c5758f709 100644
--- a/omnigibson/controllers/ik_controller.py
+++ b/omnigibson/controllers/ik_controller.py
@@ -1,11 +1,11 @@
 import numpy as np
-from omnigibson.macros import gm, create_module_macros
 
 import omnigibson.utils.transform_utils as T
 from omnigibson.controllers import ControlType, ManipulationController
 from omnigibson.controllers.joint_controller import JointController
-from omnigibson.utils.processing_utils import MovingAverageFilter
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.utils.control_utils import IKSolver
+from omnigibson.utils.processing_utils import MovingAverageFilter
 from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.ui_utils import create_module_logger
 
diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py
index 13a6554693..d117901a05 100644
--- a/omnigibson/controllers/joint_controller.py
+++ b/omnigibson/controllers/joint_controller.py
@@ -1,11 +1,15 @@
 import numpy as np
 
-from omnigibson.controllers import IsGraspingState, ControlType, LocomotionController, ManipulationController, \
-    GripperController
-from omnigibson.utils.python_utils import assert_valid_key
 import omnigibson.utils.transform_utils as T
-
+from omnigibson.controllers import (
+    ControlType,
+    GripperController,
+    IsGraspingState,
+    LocomotionController,
+    ManipulationController,
+)
 from omnigibson.macros import create_module_macros
+from omnigibson.utils.python_utils import assert_valid_key
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py
index c9dc6dbcff..0185a50ff3 100644
--- a/omnigibson/controllers/multi_finger_gripper_controller.py
+++ b/omnigibson/controllers/multi_finger_gripper_controller.py
@@ -1,7 +1,7 @@
 import numpy as np
 
+from omnigibson.controllers import ControlType, GripperController, IsGraspingState
 from omnigibson.macros import create_module_macros
-from omnigibson.controllers import IsGraspingState, ControlType, GripperController
 from omnigibson.utils.python_utils import assert_valid_key
 
 VALID_MODES = {
diff --git a/omnigibson/controllers/osc_controller.py b/omnigibson/controllers/osc_controller.py
index 8b44a2932b..ef6d728955 100644
--- a/omnigibson/controllers/osc_controller.py
+++ b/omnigibson/controllers/osc_controller.py
@@ -5,7 +5,7 @@
 from omnigibson.controllers import ControlType, ManipulationController
 from omnigibson.utils.control_utils import orientation_error
 from omnigibson.utils.processing_utils import MovingAverageFilter
-from omnigibson.utils.python_utils import nums2array, assert_valid_key
+from omnigibson.utils.python_utils import assert_valid_key, nums2array
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/envs/__init__.py b/omnigibson/envs/__init__.py
index a932063689..435d4e1553 100644
--- a/omnigibson/envs/__init__.py
+++ b/omnigibson/envs/__init__.py
@@ -1,2 +1,2 @@
 from omnigibson.envs.env_base import Environment
-from omnigibson.envs.env_wrapper import EnvironmentWrapper, create_wrapper, REGISTERED_ENV_WRAPPERS
+from omnigibson.envs.env_wrapper import REGISTERED_ENV_WRAPPERS, EnvironmentWrapper, create_wrapper
diff --git a/omnigibson/envs/env_base.py b/omnigibson/envs/env_base.py
index 2cab4f78f8..93bf9e9227 100644
--- a/omnigibson/envs/env_base.py
+++ b/omnigibson/envs/env_base.py
@@ -1,22 +1,30 @@
+from copy import deepcopy
+
 import gym
 import numpy as np
-from copy import deepcopy
 
 import omnigibson as og
+from omnigibson.macros import gm
 from omnigibson.objects import REGISTERED_OBJECTS
 from omnigibson.robots import REGISTERED_ROBOTS
 from omnigibson.scene_graphs.graph_builder import SceneGraphBuilder
-from omnigibson.simulator import launch_simulator
-from omnigibson.tasks import REGISTERED_TASKS
 from omnigibson.scenes import REGISTERED_SCENES
 from omnigibson.sensors import create_sensor
-from omnigibson.utils.gym_utils import GymObservable, recursively_generate_flat_dict, recursively_generate_compatible_dict
+from omnigibson.simulator import launch_simulator
+from omnigibson.tasks import REGISTERED_TASKS
 from omnigibson.utils.config_utils import parse_config
+from omnigibson.utils.gym_utils import (
+    GymObservable,
+    recursively_generate_compatible_dict,
+    recursively_generate_flat_dict,
+)
+from omnigibson.utils.python_utils import (
+    Recreatable,
+    assert_valid_key,
+    create_class_from_registry_and_config,
+    merge_nested_dicts,
+)
 from omnigibson.utils.ui_utils import create_module_logger
-from omnigibson.utils.python_utils import assert_valid_key, merge_nested_dicts, create_class_from_registry_and_config,\
-    Recreatable
-from omnigibson.macros import gm
-
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/envs/env_wrapper.py b/omnigibson/envs/env_wrapper.py
index 0561d6da87..cb8280a3eb 100644
--- a/omnigibson/envs/env_wrapper.py
+++ b/omnigibson/envs/env_wrapper.py
@@ -1,8 +1,8 @@
-from omnigibson.utils.python_utils import Wrapper
-from omnigibson.utils.python_utils import Registerable, classproperty, create_class_from_registry_and_config
-from omnigibson.utils.ui_utils import create_module_logger
 from copy import deepcopy
 
+from omnigibson.utils.python_utils import Registerable, Wrapper, classproperty, create_class_from_registry_and_config
+from omnigibson.utils.ui_utils import create_module_logger
+
 # Global dicts that will contain mappings
 REGISTERED_ENV_WRAPPERS = dict()
 
diff --git a/omnigibson/examples/action_primitives/rs_int_example.py b/omnigibson/examples/action_primitives/rs_int_example.py
index a482236f0b..201207ba97 100644
--- a/omnigibson/examples/action_primitives/rs_int_example.py
+++ b/omnigibson/examples/action_primitives/rs_int_example.py
@@ -1,10 +1,14 @@
 import os
-import yaml
+
 import numpy as np
+import yaml
 
 import omnigibson as og
+from omnigibson.action_primitives.starter_semantic_action_primitives import (
+    StarterSemanticActionPrimitives,
+    StarterSemanticActionPrimitiveSet,
+)
 from omnigibson.macros import gm
-from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives, StarterSemanticActionPrimitiveSet
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True
diff --git a/omnigibson/examples/action_primitives/solve_simple_task.py b/omnigibson/examples/action_primitives/solve_simple_task.py
index 7522463381..d9009ff35e 100644
--- a/omnigibson/examples/action_primitives/solve_simple_task.py
+++ b/omnigibson/examples/action_primitives/solve_simple_task.py
@@ -1,10 +1,14 @@
 import os
-import yaml
+
 import numpy as np
+import yaml
 
 import omnigibson as og
+from omnigibson.action_primitives.starter_semantic_action_primitives import (
+    StarterSemanticActionPrimitives,
+    StarterSemanticActionPrimitiveSet,
+)
 from omnigibson.macros import gm
-from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives, StarterSemanticActionPrimitiveSet
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True
diff --git a/omnigibson/examples/action_primitives/wip_solve_behavior_task.py b/omnigibson/examples/action_primitives/wip_solve_behavior_task.py
index 12b49a9d41..038b7c50f8 100644
--- a/omnigibson/examples/action_primitives/wip_solve_behavior_task.py
+++ b/omnigibson/examples/action_primitives/wip_solve_behavior_task.py
@@ -1,10 +1,14 @@
 import os
-import yaml
+
 import numpy as np
+import yaml
 
 import omnigibson as og
+from omnigibson.action_primitives.starter_semantic_action_primitives import (
+    StarterSemanticActionPrimitives,
+    StarterSemanticActionPrimitiveSet,
+)
 from omnigibson.macros import gm
-from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives, StarterSemanticActionPrimitiveSet
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True
diff --git a/omnigibson/examples/learning/navigation_policy_demo.py b/omnigibson/examples/learning/navigation_policy_demo.py
index d8a4f07d66..94bd668fb9 100644
--- a/omnigibson/examples/learning/navigation_policy_demo.py
+++ b/omnigibson/examples/learning/navigation_policy_demo.py
@@ -5,7 +5,10 @@
 """
 
 import argparse
-import os, time, cv2
+import os
+import time
+
+import cv2
 import yaml
 
 import omnigibson as og
@@ -15,15 +18,15 @@
 
 try:
     import gym
+    import tensorboard
     import torch as th
     import torch.nn as nn
-    import tensorboard
     from stable_baselines3 import PPO
+    from stable_baselines3.common.callbacks import CallbackList, CheckpointCallback, EvalCallback
     from stable_baselines3.common.evaluation import evaluate_policy
     from stable_baselines3.common.preprocessing import maybe_transpose
     from stable_baselines3.common.torch_layers import BaseFeaturesExtractor
     from stable_baselines3.common.utils import set_random_seed
-    from stable_baselines3.common.callbacks import CallbackList, CheckpointCallback, EvalCallback
 
 except ModuleNotFoundError:
     og.log.error("torch, stable-baselines3, or tensorboard is not installed. "
diff --git a/omnigibson/examples/object_states/attachment_demo.py b/omnigibson/examples/object_states/attachment_demo.py
index 175121b2db..e22d1af9c2 100644
--- a/omnigibson/examples/object_states/attachment_demo.py
+++ b/omnigibson/examples/object_states/attachment_demo.py
@@ -1,5 +1,5 @@
-import yaml
 import numpy as np
+import yaml
 
 import omnigibson as og
 from omnigibson.macros import gm
diff --git a/omnigibson/examples/object_states/dicing_demo.py b/omnigibson/examples/object_states/dicing_demo.py
index 92e955ae0c..c3e5a68187 100644
--- a/omnigibson/examples/object_states/dicing_demo.py
+++ b/omnigibson/examples/object_states/dicing_demo.py
@@ -1,8 +1,8 @@
 import numpy as np
 
 import omnigibson as og
-from omnigibson.macros import gm
 import omnigibson.utils.transform_utils as T
+from omnigibson.macros import gm
 
 # Make sure object states, GPU dynamics, and transition rules are enabled
 gm.ENABLE_OBJECT_STATES = True
diff --git a/omnigibson/examples/object_states/folded_unfolded_state_demo.py b/omnigibson/examples/object_states/folded_unfolded_state_demo.py
index 8a5aff98e6..971fba42da 100644
--- a/omnigibson/examples/object_states/folded_unfolded_state_demo.py
+++ b/omnigibson/examples/object_states/folded_unfolded_state_demo.py
@@ -1,9 +1,9 @@
-from omnigibson.utils.constants import PrimType
-from omnigibson.object_states import Folded, Unfolded
-from omnigibson.macros import gm
 import numpy as np
 
 import omnigibson as og
+from omnigibson.macros import gm
+from omnigibson.object_states import Folded, Unfolded
+from omnigibson.utils.constants import PrimType
 
 # Make sure object states and GPU dynamics are enabled (GPU dynamics needed for cloth)
 gm.ENABLE_OBJECT_STATES = True
diff --git a/omnigibson/examples/object_states/heat_source_or_sink_demo.py b/omnigibson/examples/object_states/heat_source_or_sink_demo.py
index 804d96e5c7..bd09494c6a 100644
--- a/omnigibson/examples/object_states/heat_source_or_sink_demo.py
+++ b/omnigibson/examples/object_states/heat_source_or_sink_demo.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson import object_states
 from omnigibson.macros import gm
diff --git a/omnigibson/examples/object_states/heated_state_demo.py b/omnigibson/examples/object_states/heated_state_demo.py
index 7ec010af0c..33a43dd7e4 100644
--- a/omnigibson/examples/object_states/heated_state_demo.py
+++ b/omnigibson/examples/object_states/heated_state_demo.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson import object_states
 from omnigibson.macros import gm
diff --git a/omnigibson/examples/object_states/object_state_texture_demo.py b/omnigibson/examples/object_states/object_state_texture_demo.py
index 74a0cdd769..03a173d4a8 100644
--- a/omnigibson/examples/object_states/object_state_texture_demo.py
+++ b/omnigibson/examples/object_states/object_state_texture_demo.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson import object_states
 from omnigibson.macros import gm, macros
diff --git a/omnigibson/examples/object_states/overlaid_demo.py b/omnigibson/examples/object_states/overlaid_demo.py
index 52d2d35643..375ebbc43c 100644
--- a/omnigibson/examples/object_states/overlaid_demo.py
+++ b/omnigibson/examples/object_states/overlaid_demo.py
@@ -2,9 +2,8 @@
 
 import omnigibson as og
 from omnigibson.macros import gm
-from omnigibson.utils.constants import PrimType
 from omnigibson.object_states import Overlaid
-
+from omnigibson.utils.constants import PrimType
 
 # Make sure object states and GPU dynamics are enabled (GPU dynamics needed for cloth)
 gm.ENABLE_OBJECT_STATES = True
diff --git a/omnigibson/examples/object_states/particle_applier_remover_demo.py b/omnigibson/examples/object_states/particle_applier_remover_demo.py
index 83ddf56802..e5ea7ece5a 100644
--- a/omnigibson/examples/object_states/particle_applier_remover_demo.py
+++ b/omnigibson/examples/object_states/particle_applier_remover_demo.py
@@ -1,12 +1,13 @@
 import numpy as np
+
 import omnigibson as og
+from omnigibson.macros import gm, macros
 from omnigibson.object_states import Covered
 from omnigibson.objects import DatasetObject
-from omnigibson.macros import gm, macros
 from omnigibson.systems import get_system
-from omnigibson.utils.usd_utils import create_joint
-from omnigibson.utils.ui_utils import choose_from_options
 from omnigibson.utils.constants import ParticleModifyMethod
+from omnigibson.utils.ui_utils import choose_from_options
+from omnigibson.utils.usd_utils import create_joint
 
 # Set macros for this example
 macros.object_states.particle_modifier.VISUAL_PARTICLES_REMOVAL_LIMIT = 1000
diff --git a/omnigibson/examples/object_states/sample_kinematics_demo.py b/omnigibson/examples/object_states/sample_kinematics_demo.py
index 0bd22592fd..7ec041bebd 100644
--- a/omnigibson/examples/object_states/sample_kinematics_demo.py
+++ b/omnigibson/examples/object_states/sample_kinematics_demo.py
@@ -7,7 +7,6 @@
 from omnigibson.macros import gm
 from omnigibson.objects import DatasetObject
 
-
 # Make sure object states are enabled
 gm.ENABLE_OBJECT_STATES = True
 
diff --git a/omnigibson/examples/object_states/slicing_demo.py b/omnigibson/examples/object_states/slicing_demo.py
index 98c0bb21b1..656ec2f6dc 100644
--- a/omnigibson/examples/object_states/slicing_demo.py
+++ b/omnigibson/examples/object_states/slicing_demo.py
@@ -1,8 +1,8 @@
 import numpy as np
 
 import omnigibson as og
-from omnigibson.macros import gm
 import omnigibson.utils.transform_utils as T
+from omnigibson.macros import gm
 
 # Make sure object states and transition rules are enabled
 gm.ENABLE_OBJECT_STATES = True
diff --git a/omnigibson/examples/objects/draw_bounding_box.py b/omnigibson/examples/objects/draw_bounding_box.py
index bddb41aad1..5cfe2cf61f 100644
--- a/omnigibson/examples/objects/draw_bounding_box.py
+++ b/omnigibson/examples/objects/draw_bounding_box.py
@@ -1,6 +1,6 @@
 import matplotlib.pyplot as plt
-
 import numpy as np
+
 import omnigibson as og
 
 
diff --git a/omnigibson/examples/objects/highlight_objects.py b/omnigibson/examples/objects/highlight_objects.py
index ef286b878b..d53d9b1415 100644
--- a/omnigibson/examples/objects/highlight_objects.py
+++ b/omnigibson/examples/objects/highlight_objects.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 import omnigibson as og
 
 
diff --git a/omnigibson/examples/objects/load_object_selector.py b/omnigibson/examples/objects/load_object_selector.py
index 01530ac469..bfb08f8813 100644
--- a/omnigibson/examples/objects/load_object_selector.py
+++ b/omnigibson/examples/objects/load_object_selector.py
@@ -1,9 +1,10 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson.utils.asset_utils import (
     get_all_object_categories,
-    get_og_avg_category_specs,
     get_all_object_category_models,
+    get_og_avg_category_specs,
 )
 from omnigibson.utils.ui_utils import choose_from_options
 
diff --git a/omnigibson/examples/objects/visualize_object.py b/omnigibson/examples/objects/visualize_object.py
index 5270074809..f3f533ddf2 100644
--- a/omnigibson/examples/objects/visualize_object.py
+++ b/omnigibson/examples/objects/visualize_object.py
@@ -1,13 +1,11 @@
 import argparse
+
 import numpy as np
 
 import omnigibson as og
-from omnigibson.utils.asset_utils import (
-    get_all_object_categories,
-    get_all_object_category_models,
-)
-from omnigibson.utils.ui_utils import choose_from_options
 import omnigibson.utils.transform_utils as T
+from omnigibson.utils.asset_utils import get_all_object_categories, get_all_object_category_models
+from omnigibson.utils.ui_utils import choose_from_options
 
 
 def main(random_selection=False, headless=False, short_exec=False):
diff --git a/omnigibson/examples/renderer_settings/renderer_settings_example.py b/omnigibson/examples/renderer_settings/renderer_settings_example.py
index 3a1690fdc2..5446252bc4 100644
--- a/omnigibson/examples/renderer_settings/renderer_settings_example.py
+++ b/omnigibson/examples/renderer_settings/renderer_settings_example.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson.renderer_settings.renderer_settings import RendererSettings
 
diff --git a/omnigibson/examples/robots/grasping_mode_example.py b/omnigibson/examples/robots/grasping_mode_example.py
index 2382c4cc0d..d675f51368 100644
--- a/omnigibson/examples/robots/grasping_mode_example.py
+++ b/omnigibson/examples/robots/grasping_mode_example.py
@@ -6,7 +6,7 @@
 import omnigibson as og
 from omnigibson.macros import gm
 from omnigibson.sensors import VisionSensor
-from omnigibson.utils.ui_utils import choose_from_options, KeyboardRobotController
+from omnigibson.utils.ui_utils import KeyboardRobotController, choose_from_options
 
 GRASPING_MODES = dict(
     sticky="Sticky Mitten - Objects are magnetized when they touch the fingers and a CLOSE command is given",
diff --git a/omnigibson/examples/robots/robot_control_example.py b/omnigibson/examples/robots/robot_control_example.py
index e086679447..d0c22e695f 100644
--- a/omnigibson/examples/robots/robot_control_example.py
+++ b/omnigibson/examples/robots/robot_control_example.py
@@ -9,8 +9,7 @@
 import omnigibson.lazy as lazy
 from omnigibson.macros import gm
 from omnigibson.robots import REGISTERED_ROBOTS
-from omnigibson.utils.ui_utils import choose_from_options, KeyboardRobotController
-
+from omnigibson.utils.ui_utils import KeyboardRobotController, choose_from_options
 
 CONTROL_MODES = dict(
     random="Use autonomous random actions (default)",
diff --git a/omnigibson/examples/scenes/scene_tour_demo.py b/omnigibson/examples/scenes/scene_tour_demo.py
index b850882789..5160589fd9 100644
--- a/omnigibson/examples/scenes/scene_tour_demo.py
+++ b/omnigibson/examples/scenes/scene_tour_demo.py
@@ -4,7 +4,7 @@
 import omnigibson.lazy as lazy
 from omnigibson.macros import gm
 from omnigibson.utils.asset_utils import get_available_g_scenes, get_available_og_scenes
-from omnigibson.utils.ui_utils import choose_from_options, KeyboardEventHandler
+from omnigibson.utils.ui_utils import KeyboardEventHandler, choose_from_options
 
 
 def main(random_selection=False, headless=False, short_exec=False):
diff --git a/omnigibson/examples/scenes/traversability_map_example.py b/omnigibson/examples/scenes/traversability_map_example.py
index 622c121ab6..ff6320bfe9 100644
--- a/omnigibson/examples/scenes/traversability_map_example.py
+++ b/omnigibson/examples/scenes/traversability_map_example.py
@@ -6,7 +6,7 @@
 from PIL import Image
 
 import omnigibson as og
-from omnigibson.utils.asset_utils import get_og_scene_path, get_available_og_scenes
+from omnigibson.utils.asset_utils import get_available_og_scenes, get_og_scene_path
 from omnigibson.utils.ui_utils import choose_from_options
 
 
diff --git a/omnigibson/examples/simulator/sim_save_load_example.py b/omnigibson/examples/simulator/sim_save_load_example.py
index d9656a98e0..c2c8cb011e 100644
--- a/omnigibson/examples/simulator/sim_save_load_example.py
+++ b/omnigibson/examples/simulator/sim_save_load_example.py
@@ -1,4 +1,5 @@
 import os
+
 import numpy as np
 
 import omnigibson as og
diff --git a/omnigibson/examples/teleoperation/robot_teleoperate_demo.py b/omnigibson/examples/teleoperation/robot_teleoperate_demo.py
index 304f2852e8..ca697b643c 100644
--- a/omnigibson/examples/teleoperation/robot_teleoperate_demo.py
+++ b/omnigibson/examples/teleoperation/robot_teleoperate_demo.py
@@ -21,9 +21,10 @@ def main():
     Spawn a robot in an empty scene with a breakfast table and some toys.
     Users can try pick and place the toy into the basket using selected external devices and robot of their choice.
     """
-    from omnigibson.utils.teleop_utils import TeleopSystem
-    from telemoma.utils.camera_utils import RealSenseCamera
     from telemoma.configs.base_config import teleop_config
+    from telemoma.utils.camera_utils import RealSenseCamera
+
+    from omnigibson.utils.teleop_utils import TeleopSystem
 
     robot_name = choose_from_options(options=ROBOTS, name="robot")
     arm_teleop_method = choose_from_options(options=TELEOP_METHOD, name="robot arm teleop method")
diff --git a/omnigibson/examples/teleoperation/vr_simple_demo.py b/omnigibson/examples/teleoperation/vr_simple_demo.py
index 673ebed8a8..7c2c64a75c 100644
--- a/omnigibson/examples/teleoperation/vr_simple_demo.py
+++ b/omnigibson/examples/teleoperation/vr_simple_demo.py
@@ -4,6 +4,7 @@
 import omnigibson as og
 from omnigibson.utils.teleop_utils import OVXRSystem
 
+
 def main():
     """
     Spawn a BehaviorRobot in Rs_int and users can navigate around and interact with the scene using VR.
diff --git a/omnigibson/lazy.py b/omnigibson/lazy.py
index a6fcaf09d2..5deaf72f04 100644
--- a/omnigibson/lazy.py
+++ b/omnigibson/lazy.py
@@ -1,4 +1,5 @@
 import sys
+
 from omnigibson.utils.lazy_import_utils import LazyImporter
 
 sys.modules[__name__] = LazyImporter("", None)
diff --git a/omnigibson/maps/__init__.py b/omnigibson/maps/__init__.py
index bad474dac2..b57ce6a5d1 100644
--- a/omnigibson/maps/__init__.py
+++ b/omnigibson/maps/__init__.py
@@ -1,3 +1,3 @@
 from omnigibson.maps.map_base import BaseMap
-from omnigibson.maps.traversable_map import TraversableMap
 from omnigibson.maps.segmentation_map import SegmentationMap
+from omnigibson.maps.traversable_map import TraversableMap
diff --git a/omnigibson/maps/segmentation_map.py b/omnigibson/maps/segmentation_map.py
index 0517e5b41f..c814b40fca 100644
--- a/omnigibson/maps/segmentation_map.py
+++ b/omnigibson/maps/segmentation_map.py
@@ -1,8 +1,8 @@
 import os
 
 import numpy as np
-
 from PIL import Image
+
 # Accommodate large maps (e.g. 10k x 10k) while suppressing DecompressionBombError
 Image.MAX_IMAGE_PIXELS = None
 
diff --git a/omnigibson/maps/traversable_map.py b/omnigibson/maps/traversable_map.py
index 603e3be43e..c72defaae5 100644
--- a/omnigibson/maps/traversable_map.py
+++ b/omnigibson/maps/traversable_map.py
@@ -3,12 +3,13 @@
 import cv2
 import numpy as np
 from PIL import Image
+
 # Accommodate large maps (e.g. 10k x 10k) while suppressing DecompressionBombError
 Image.MAX_IMAGE_PIXELS = None
 
 from omnigibson.maps.map_base import BaseMap
-from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.motion_planning_utils import astar
+from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/object_states/__init__.py b/omnigibson/object_states/__init__.py
index 36642bda32..a731df9d14 100644
--- a/omnigibson/object_states/__init__.py
+++ b/omnigibson/object_states/__init__.py
@@ -1,4 +1,3 @@
-from omnigibson.object_states.object_state_base import REGISTERED_OBJECT_STATES
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.adjacency import HorizontalAdjacency, VerticalAdjacency
 from omnigibson.object_states.attached_to import AttachedTo
@@ -8,28 +7,29 @@
 from omnigibson.object_states.contains import ContainedParticles, Contains
 from omnigibson.object_states.cooked import Cooked
 from omnigibson.object_states.covered import Covered
+from omnigibson.object_states.draped import Draped
+from omnigibson.object_states.filled import Filled
+from omnigibson.object_states.folded import Folded, FoldedLevel, Unfolded
 from omnigibson.object_states.frozen import Frozen
 from omnigibson.object_states.heat_source_or_sink import HeatSourceOrSink
 from omnigibson.object_states.heated import Heated
 from omnigibson.object_states.inside import Inside
 from omnigibson.object_states.max_temperature import MaxTemperature
 from omnigibson.object_states.next_to import NextTo
+from omnigibson.object_states.object_state_base import REGISTERED_OBJECT_STATES
 from omnigibson.object_states.on_fire import OnFire
 from omnigibson.object_states.on_top import OnTop
 from omnigibson.object_states.open_state import Open
 from omnigibson.object_states.overlaid import Overlaid
-from omnigibson.object_states.particle_modifier import ParticleRemover, ParticleApplier
-from omnigibson.object_states.particle_source_or_sink import ParticleSource, ParticleSink
 from omnigibson.object_states.particle import ParticleRequirement
+from omnigibson.object_states.particle_modifier import ParticleApplier, ParticleRemover
+from omnigibson.object_states.particle_source_or_sink import ParticleSink, ParticleSource
 from omnigibson.object_states.pose import Pose
 from omnigibson.object_states.robot_related_states import IsGrasping, ObjectsInFOVOfRobot
 from omnigibson.object_states.saturated import Saturated
-from omnigibson.object_states.slicer_active import SlicerActive
 from omnigibson.object_states.sliceable import SliceableRequirement
+from omnigibson.object_states.slicer_active import SlicerActive
 from omnigibson.object_states.temperature import Temperature
 from omnigibson.object_states.toggle import ToggledOn
 from omnigibson.object_states.touching import Touching
 from omnigibson.object_states.under import Under
-from omnigibson.object_states.filled import Filled
-from omnigibson.object_states.folded import Folded, Unfolded, FoldedLevel
-from omnigibson.object_states.draped import Draped
diff --git a/omnigibson/object_states/adjacency.py b/omnigibson/object_states/adjacency.py
index 4718b315ea..bbe40268bd 100644
--- a/omnigibson/object_states/adjacency.py
+++ b/omnigibson/object_states/adjacency.py
@@ -6,9 +6,8 @@
 from omnigibson.macros import create_module_macros
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.object_state_base import AbsoluteObjectState
-from omnigibson.utils.sampling_utils import raytest_batch, raytest
 from omnigibson.utils.constants import PrimType
-
+from omnigibson.utils.sampling_utils import raytest, raytest_batch
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/attached_to.py b/omnigibson/object_states/attached_to.py
index dfd675ebb1..59616dc2f1 100644
--- a/omnigibson/object_states/attached_to.py
+++ b/omnigibson/object_states/attached_to.py
@@ -1,20 +1,20 @@
-import numpy as np
 from collections import defaultdict
 
+import numpy as np
+
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import create_module_macros
 import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros
+from omnigibson.object_states.contact_bodies import ContactBodies
 from omnigibson.object_states.contact_subscribed_state_mixin import ContactSubscribedStateMixin
 from omnigibson.object_states.joint_break_subscribed_state_mixin import JointBreakSubscribedStateMixin
-from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
 from omnigibson.object_states.link_based_state_mixin import LinkBasedStateMixin
-from omnigibson.object_states.contact_bodies import ContactBodies
+from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
 from omnigibson.utils.constants import JointType
-from omnigibson.utils.usd_utils import create_joint
-from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.python_utils import classproperty
-from omnigibson.utils.usd_utils import CollisionAPI
+from omnigibson.utils.ui_utils import create_module_logger
+from omnigibson.utils.usd_utils import CollisionAPI, create_joint
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/object_states/burnt.py b/omnigibson/object_states/burnt.py
index da837a7106..eec7840a46 100644
--- a/omnigibson/object_states/burnt.py
+++ b/omnigibson/object_states/burnt.py
@@ -2,7 +2,6 @@
 from omnigibson.object_states.max_temperature import MaxTemperature
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin
 
-
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/object_states/contact_particles.py b/omnigibson/object_states/contact_particles.py
index 19621a889d..0aa8fb32c0 100644
--- a/omnigibson/object_states/contact_particles.py
+++ b/omnigibson/object_states/contact_particles.py
@@ -1,8 +1,8 @@
 import omnigibson as og
 from omnigibson.macros import create_module_macros
-from omnigibson.object_states.object_state_base import RelativeObjectState
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.kinematics_mixin import KinematicsMixin
+from omnigibson.object_states.object_state_base import RelativeObjectState
 from omnigibson.systems.system_base import PhysicalParticleSystem, is_physical_particle_system
 
 # Create settings for this module
diff --git a/omnigibson/object_states/contact_subscribed_state_mixin.py b/omnigibson/object_states/contact_subscribed_state_mixin.py
index ba2ad3b10f..330a550337 100644
--- a/omnigibson/object_states/contact_subscribed_state_mixin.py
+++ b/omnigibson/object_states/contact_subscribed_state_mixin.py
@@ -1,4 +1,5 @@
 from abc import abstractmethod
+
 from omnigibson.object_states.object_state_base import BaseObjectState
 from omnigibson.utils.python_utils import classproperty
 
diff --git a/omnigibson/object_states/contains.py b/omnigibson/object_states/contains.py
index 5e45670ad1..7084ee124d 100644
--- a/omnigibson/object_states/contains.py
+++ b/omnigibson/object_states/contains.py
@@ -1,13 +1,19 @@
-import numpy as np
 from collections import namedtuple
+
+import numpy as np
+
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import create_module_macros
 from omnigibson.object_states.link_based_state_mixin import LinkBasedStateMixin
-from omnigibson.object_states.object_state_base import RelativeObjectState, BooleanStateMixin
-from omnigibson.systems.system_base import VisualParticleSystem, PhysicalParticleSystem, is_visual_particle_system, \
-    is_physical_particle_system
+from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
+from omnigibson.systems.system_base import (
+    PhysicalParticleSystem,
+    VisualParticleSystem,
+    is_physical_particle_system,
+    is_visual_particle_system,
+)
 from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function
 from omnigibson.utils.python_utils import classproperty
-import omnigibson.utils.transform_utils as T
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/cooked.py b/omnigibson/object_states/cooked.py
index 66e67dba99..4ebab23b1f 100644
--- a/omnigibson/object_states/cooked.py
+++ b/omnigibson/object_states/cooked.py
@@ -2,7 +2,6 @@
 from omnigibson.object_states.max_temperature import MaxTemperature
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin
 
-
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/object_states/covered.py b/omnigibson/object_states/covered.py
index 247eec99ca..80e612521a 100644
--- a/omnigibson/object_states/covered.py
+++ b/omnigibson/object_states/covered.py
@@ -1,11 +1,10 @@
 from omnigibson.macros import create_module_macros
 from omnigibson.object_states import AABB
-from omnigibson.object_states.object_state_base import RelativeObjectState, BooleanStateMixin
 from omnigibson.object_states.contact_particles import ContactParticles
-from omnigibson.systems.system_base import VisualParticleSystem, is_visual_particle_system, is_physical_particle_system
+from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
+from omnigibson.systems.system_base import VisualParticleSystem, is_physical_particle_system, is_visual_particle_system
 from omnigibson.utils.constants import PrimType
 
-
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/object_states/draped.py b/omnigibson/object_states/draped.py
index ee1d6f6021..f00880bd97 100644
--- a/omnigibson/object_states/draped.py
+++ b/omnigibson/object_states/draped.py
@@ -1,11 +1,12 @@
+import numpy as np
+
+import omnigibson as og
+from omnigibson.object_states.cloth_mixin import ClothStateMixin
+from omnigibson.object_states.contact_bodies import ContactBodies
 from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
-from omnigibson.object_states.contact_bodies import ContactBodies
-from omnigibson.object_states.cloth_mixin import ClothStateMixin
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.object_state_utils import sample_cloth_on_rigid
-import omnigibson as og
-import numpy as np
 
 
 class Draped(RelativeObjectState, KinematicsMixin, BooleanStateMixin, ClothStateMixin):
diff --git a/omnigibson/object_states/factory.py b/omnigibson/object_states/factory.py
index 272f6b5347..15cb5916f4 100644
--- a/omnigibson/object_states/factory.py
+++ b/omnigibson/object_states/factory.py
@@ -1,8 +1,9 @@
-import networkx as nx
 from collections import namedtuple
 
-from omnigibson.object_states.kinematics_mixin import KinematicsMixin
+import networkx as nx
+
 from omnigibson.object_states import *
+from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 
 # states: list of ObjectBaseState
 # requirements: list of ObjectBaseRequirement
diff --git a/omnigibson/object_states/filled.py b/omnigibson/object_states/filled.py
index 380429965b..506480fa0d 100644
--- a/omnigibson/object_states/filled.py
+++ b/omnigibson/object_states/filled.py
@@ -1,9 +1,10 @@
 import numpy as np
+
 from omnigibson.macros import create_module_macros
 from omnigibson.object_states.contains import ContainedParticles
-from omnigibson.object_states.object_state_base import RelativeObjectState, BooleanStateMixin
-from omnigibson.systems.system_base import PhysicalParticleSystem, is_physical_particle_system
+from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
 from omnigibson.systems.macro_particle_system import MacroParticleSystem
+from omnigibson.systems.system_base import PhysicalParticleSystem, is_physical_particle_system
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/folded.py b/omnigibson/object_states/folded.py
index 9fd8ff4280..ceafbae69e 100644
--- a/omnigibson/object_states/folded.py
+++ b/omnigibson/object_states/folded.py
@@ -1,10 +1,11 @@
-import numpy as np
 from collections import namedtuple
-from scipy.spatial import ConvexHull, distance_matrix, QhullError
+
+import numpy as np
+from scipy.spatial import ConvexHull, QhullError, distance_matrix
 
 from omnigibson.macros import create_module_macros
-from omnigibson.object_states.object_state_base import BooleanStateMixin, AbsoluteObjectState
 from omnigibson.object_states.cloth_mixin import ClothStateMixin
+from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/frozen.py b/omnigibson/object_states/frozen.py
index 7c0f2a086e..b88677213e 100644
--- a/omnigibson/object_states/frozen.py
+++ b/omnigibson/object_states/frozen.py
@@ -4,7 +4,6 @@
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin
 from omnigibson.object_states.temperature import Temperature
 
-
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/object_states/heat_source_or_sink.py b/omnigibson/object_states/heat_source_or_sink.py
index 4ee998d1f4..fd3b8710e1 100644
--- a/omnigibson/object_states/heat_source_or_sink.py
+++ b/omnigibson/object_states/heat_source_or_sink.py
@@ -1,3 +1,5 @@
+import numpy as np
+
 import omnigibson as og
 from omnigibson.macros import create_module_macros, macros
 from omnigibson.object_states.aabb import AABB
@@ -7,10 +9,8 @@
 from omnigibson.object_states.open_state import Open
 from omnigibson.object_states.toggle import ToggledOn
 from omnigibson.object_states.update_state_mixin import UpdateStateMixin
-from omnigibson.utils.python_utils import classproperty
 from omnigibson.utils.constants import PrimType
-import numpy as np
-
+from omnigibson.utils.python_utils import classproperty
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/heated.py b/omnigibson/object_states/heated.py
index d4612777b1..6e365049a1 100644
--- a/omnigibson/object_states/heated.py
+++ b/omnigibson/object_states/heated.py
@@ -4,7 +4,6 @@
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin
 from omnigibson.object_states.temperature import Temperature
 
-
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/object_states/inside.py b/omnigibson/object_states/inside.py
index 7d5f8e44f2..9f9c12e547 100644
--- a/omnigibson/object_states/inside.py
+++ b/omnigibson/object_states/inside.py
@@ -1,12 +1,13 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.adjacency import HorizontalAdjacency, VerticalAdjacency, flatten_planes
 from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
-from omnigibson.utils.object_state_utils import sample_kinematics
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.object_state_utils import m as os_m
+from omnigibson.utils.object_state_utils import sample_kinematics
 
 
 class Inside(RelativeObjectState, KinematicsMixin, BooleanStateMixin):
diff --git a/omnigibson/object_states/joint_break_subscribed_state_mixin.py b/omnigibson/object_states/joint_break_subscribed_state_mixin.py
index 8498376923..4044da942b 100644
--- a/omnigibson/object_states/joint_break_subscribed_state_mixin.py
+++ b/omnigibson/object_states/joint_break_subscribed_state_mixin.py
@@ -1,5 +1,6 @@
-from omnigibson.object_states.object_state_base import BaseObjectState
 from abc import abstractmethod
+
+from omnigibson.object_states.object_state_base import BaseObjectState
 from omnigibson.utils.python_utils import classproperty
 
 
diff --git a/omnigibson/object_states/link_based_state_mixin.py b/omnigibson/object_states/link_based_state_mixin.py
index 41143f3823..8f8e13627b 100644
--- a/omnigibson/object_states/link_based_state_mixin.py
+++ b/omnigibson/object_states/link_based_state_mixin.py
@@ -1,8 +1,9 @@
 import numpy as np
+
 from omnigibson.object_states.object_state_base import BaseObjectState
-from omnigibson.utils.ui_utils import create_module_logger
-from omnigibson.utils.python_utils import classproperty
 from omnigibson.prims.cloth_prim import ClothPrim
+from omnigibson.utils.python_utils import classproperty
+from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/object_states/max_temperature.py b/omnigibson/object_states/max_temperature.py
index 3d0d1320ce..bba0e67621 100644
--- a/omnigibson/object_states/max_temperature.py
+++ b/omnigibson/object_states/max_temperature.py
@@ -1,6 +1,7 @@
+import numpy as np
+
 from omnigibson.object_states.temperature import Temperature
 from omnigibson.object_states.tensorized_value_state import TensorizedValueState
-import numpy as np
 from omnigibson.utils.python_utils import classproperty
 
 
diff --git a/omnigibson/object_states/object_state_base.py b/omnigibson/object_states/object_state_base.py
index 5d1af901f8..bd28cb7ea9 100644
--- a/omnigibson/object_states/object_state_base.py
+++ b/omnigibson/object_states/object_state_base.py
@@ -1,8 +1,8 @@
-from abc import ABC
 import inspect
-import omnigibson as og
-from omnigibson.utils.python_utils import classproperty, Serializable, Registerable, Recreatable
+from abc import ABC
 
+import omnigibson as og
+from omnigibson.utils.python_utils import Recreatable, Registerable, Serializable, classproperty
 
 # Global dicts that will contain mappings
 REGISTERED_OBJECT_STATES = dict()
diff --git a/omnigibson/object_states/on_fire.py b/omnigibson/object_states/on_fire.py
index e706ecde8d..af69525fc6 100644
--- a/omnigibson/object_states/on_fire.py
+++ b/omnigibson/object_states/on_fire.py
@@ -1,7 +1,6 @@
 from omnigibson.macros import create_module_macros
-from omnigibson.object_states.temperature import Temperature
 from omnigibson.object_states.heat_source_or_sink import HeatSourceOrSink
-
+from omnigibson.object_states.temperature import Temperature
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/on_top.py b/omnigibson/object_states/on_top.py
index 2b38ed5d57..95ba5a08b2 100644
--- a/omnigibson/object_states/on_top.py
+++ b/omnigibson/object_states/on_top.py
@@ -1,11 +1,11 @@
 import omnigibson as og
-from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.adjacency import VerticalAdjacency
+from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
 from omnigibson.object_states.touching import Touching
-from omnigibson.utils.object_state_utils import sample_kinematics
-from omnigibson.utils.object_state_utils import m as os_m
 from omnigibson.utils.constants import PrimType
+from omnigibson.utils.object_state_utils import m as os_m
+from omnigibson.utils.object_state_utils import sample_kinematics
 
 
 class OnTop(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
diff --git a/omnigibson/object_states/open_state.py b/omnigibson/object_states/open_state.py
index d48b7a9959..506bebdf1c 100644
--- a/omnigibson/object_states/open_state.py
+++ b/omnigibson/object_states/open_state.py
@@ -1,7 +1,7 @@
 import numpy as np
 
 from omnigibson.macros import create_module_macros
-from omnigibson.object_states.object_state_base import BooleanStateMixin, AbsoluteObjectState
+from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin
 from omnigibson.utils.constants import JointType
 from omnigibson.utils.ui_utils import create_module_logger
 
diff --git a/omnigibson/object_states/overlaid.py b/omnigibson/object_states/overlaid.py
index fff7d51079..ae07bdf46f 100644
--- a/omnigibson/object_states/overlaid.py
+++ b/omnigibson/object_states/overlaid.py
@@ -1,17 +1,17 @@
+import itertools
+
+import numpy as np
+import trimesh
+from scipy.spatial import ConvexHull, HalfspaceIntersection, QhullError
+
+import omnigibson as og
+import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros
 from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
 from omnigibson.object_states.touching import Touching
 from omnigibson.utils.constants import PrimType
-import omnigibson.utils.transform_utils as T
 from omnigibson.utils.object_state_utils import sample_cloth_on_rigid
-from omnigibson.macros import create_module_macros
-
-import omnigibson as og
-
-from scipy.spatial import ConvexHull, HalfspaceIntersection, QhullError
-import numpy as np
-import trimesh
-import itertools
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/particle.py b/omnigibson/object_states/particle.py
index f125265ad0..ea8c463629 100644
--- a/omnigibson/object_states/particle.py
+++ b/omnigibson/object_states/particle.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 from omnigibson.object_states.object_state_base import BaseObjectRequirement
 
 
diff --git a/omnigibson/object_states/particle_modifier.py b/omnigibson/object_states/particle_modifier.py
index db117eed36..5ec3a79b50 100644
--- a/omnigibson/object_states/particle_modifier.py
+++ b/omnigibson/object_states/particle_modifier.py
@@ -1,11 +1,12 @@
 from abc import abstractmethod
 from collections import defaultdict
+
 import numpy as np
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import create_module_macros, macros, gm
-from omnigibson.prims.geom_prim import VisualGeomPrim
+import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros, gm, macros
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.contact_bodies import ContactBodies
 from omnigibson.object_states.contact_particles import ContactParticles
@@ -15,18 +16,29 @@
 from omnigibson.object_states.saturated import ModifiedParticles, Saturated
 from omnigibson.object_states.toggle import ToggledOn
 from omnigibson.object_states.update_state_mixin import UpdateStateMixin
+from omnigibson.prims.geom_prim import VisualGeomPrim
 from omnigibson.prims.prim_base import BasePrim
-from omnigibson.systems.system_base import BaseSystem, VisualParticleSystem, PhysicalParticleSystem, get_system, \
-    is_visual_particle_system, is_physical_particle_system, is_fluid_system, is_system_active, REGISTERED_SYSTEMS
-from omnigibson.utils.constants import ParticleModifyMethod, ParticleModifyCondition, PrimType
-from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function, \
-    get_particle_positions_in_frame, get_particle_positions_from_frame
+from omnigibson.systems.system_base import (
+    REGISTERED_SYSTEMS,
+    BaseSystem,
+    PhysicalParticleSystem,
+    VisualParticleSystem,
+    get_system,
+    is_fluid_system,
+    is_physical_particle_system,
+    is_system_active,
+    is_visual_particle_system,
+)
+from omnigibson.utils.constants import ParticleModifyCondition, ParticleModifyMethod, PrimType
+from omnigibson.utils.geometry_utils import (
+    generate_points_in_volume_checker_function,
+    get_particle_positions_from_frame,
+    get_particle_positions_in_frame,
+)
 from omnigibson.utils.python_utils import classproperty
-from omnigibson.utils.ui_utils import suppress_omni_log
-from omnigibson.utils.usd_utils import create_primitive_mesh, FlatcacheAPI
-import omnigibson.utils.transform_utils as T
 from omnigibson.utils.sampling_utils import sample_cuboid_on_object
-
+from omnigibson.utils.ui_utils import suppress_omni_log
+from omnigibson.utils.usd_utils import FlatcacheAPI, create_primitive_mesh
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/robot_related_states.py b/omnigibson/object_states/robot_related_states.py
index d922baadb2..95917d186d 100644
--- a/omnigibson/object_states/robot_related_states.py
+++ b/omnigibson/object_states/robot_related_states.py
@@ -1,9 +1,9 @@
 import numpy as np
+
 import omnigibson as og
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin, RelativeObjectState
 from omnigibson.sensors import VisionSensor
 
-
 _IN_REACH_DISTANCE_THRESHOLD = 2.0
 
 _IN_FOV_PIXEL_FRACTION_THRESHOLD = 0.05
diff --git a/omnigibson/object_states/saturated.py b/omnigibson/object_states/saturated.py
index e6981bb878..91215135d1 100644
--- a/omnigibson/object_states/saturated.py
+++ b/omnigibson/object_states/saturated.py
@@ -1,10 +1,10 @@
 import numpy as np
+
 from omnigibson.macros import create_module_macros
-from omnigibson.object_states.object_state_base import RelativeObjectState, BooleanStateMixin
-from omnigibson.systems.system_base import UUID_TO_SYSTEMS, REGISTERED_SYSTEMS
+from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
+from omnigibson.systems.system_base import REGISTERED_SYSTEMS, UUID_TO_SYSTEMS
 from omnigibson.utils.python_utils import get_uuid
 
-
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/object_states/sliceable.py b/omnigibson/object_states/sliceable.py
index aa6be7b104..f16695ae76 100644
--- a/omnigibson/object_states/sliceable.py
+++ b/omnigibson/object_states/sliceable.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 from omnigibson.object_states.object_state_base import BaseObjectRequirement
 
 
@@ -11,6 +12,7 @@ class SliceableRequirement(BaseObjectRequirement):
     def is_compatible(cls, obj, **kwargs):
         # Avoid circular imports
         from omnigibson.objects.dataset_object import DatasetObject
+
         # Make sure object is dataset object
         if not isinstance(obj, DatasetObject):
             return False, f"Only compatible with DatasetObject, but {obj} is of type {type(obj)}"
diff --git a/omnigibson/object_states/slicer_active.py b/omnigibson/object_states/slicer_active.py
index ae36f2aaa6..a14598986e 100644
--- a/omnigibson/object_states/slicer_active.py
+++ b/omnigibson/object_states/slicer_active.py
@@ -1,13 +1,13 @@
 import numpy as np
+
+import omnigibson as og
 from omnigibson.macros import create_module_macros
-from omnigibson.object_states.object_state_base import BooleanStateMixin
 from omnigibson.object_states.contact_bodies import ContactBodies
+from omnigibson.object_states.object_state_base import BooleanStateMixin
 from omnigibson.object_states.tensorized_value_state import TensorizedValueState
-import omnigibson as og
 from omnigibson.utils.python_utils import classproperty
 from omnigibson.utils.usd_utils import RigidContactAPI
 
-
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 m.REACTIVATION_DELAY = 0.5  # number of seconds to wait before reactivating the slicer
diff --git a/omnigibson/object_states/temperature.py b/omnigibson/object_states/temperature.py
index a211ea08f1..cd9cf4abc9 100644
--- a/omnigibson/object_states/temperature.py
+++ b/omnigibson/object_states/temperature.py
@@ -1,9 +1,10 @@
 import numpy as np
+
+import omnigibson as og
 from omnigibson.macros import create_module_macros
-from omnigibson.object_states.heat_source_or_sink import HeatSourceOrSink
 from omnigibson.object_states.aabb import AABB
+from omnigibson.object_states.heat_source_or_sink import HeatSourceOrSink
 from omnigibson.object_states.tensorized_value_state import TensorizedValueState
-import omnigibson as og
 from omnigibson.utils.python_utils import classproperty
 
 # Create settings for this module
diff --git a/omnigibson/object_states/tensorized_value_state.py b/omnigibson/object_states/tensorized_value_state.py
index 35f4d53b3e..1826d5a2d0 100644
--- a/omnigibson/object_states/tensorized_value_state.py
+++ b/omnigibson/object_states/tensorized_value_state.py
@@ -1,7 +1,8 @@
+import numpy as np
+
 from omnigibson.object_states.object_state_base import AbsoluteObjectState
 from omnigibson.object_states.update_state_mixin import GlobalUpdateStateMixin
 from omnigibson.utils.python_utils import classproperty
-import numpy as np
 
 
 class TensorizedValueState(AbsoluteObjectState, GlobalUpdateStateMixin):
diff --git a/omnigibson/object_states/toggle.py b/omnigibson/object_states/toggle.py
index 8e8f75b8ac..e47a56db81 100644
--- a/omnigibson/object_states/toggle.py
+++ b/omnigibson/object_states/toggle.py
@@ -3,14 +3,13 @@
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.macros import create_module_macros
-from omnigibson.prims.geom_prim import VisualGeomPrim
 from omnigibson.object_states.link_based_state_mixin import LinkBasedStateMixin
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin
-from omnigibson.object_states.update_state_mixin import UpdateStateMixin, GlobalUpdateStateMixin
-from omnigibson.utils.python_utils import classproperty
-from omnigibson.utils.usd_utils import create_primitive_mesh, RigidContactAPI
+from omnigibson.object_states.update_state_mixin import GlobalUpdateStateMixin, UpdateStateMixin
+from omnigibson.prims.geom_prim import VisualGeomPrim
 from omnigibson.utils.constants import PrimType
-
+from omnigibson.utils.python_utils import classproperty
+from omnigibson.utils.usd_utils import RigidContactAPI, create_primitive_mesh
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/object_states/under.py b/omnigibson/object_states/under.py
index a9858d14bc..dd6ae1ea16 100644
--- a/omnigibson/object_states/under.py
+++ b/omnigibson/object_states/under.py
@@ -2,9 +2,9 @@
 from omnigibson.object_states.adjacency import VerticalAdjacency
 from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
-from omnigibson.utils.object_state_utils import sample_kinematics
-from omnigibson.utils.object_state_utils import m as os_m
 from omnigibson.utils.constants import PrimType
+from omnigibson.utils.object_state_utils import m as os_m
+from omnigibson.utils.object_state_utils import sample_kinematics
 
 
 class Under(RelativeObjectState, KinematicsMixin, BooleanStateMixin):
diff --git a/omnigibson/object_states/update_state_mixin.py b/omnigibson/object_states/update_state_mixin.py
index 7778de85a6..fd88000cb3 100644
--- a/omnigibson/object_states/update_state_mixin.py
+++ b/omnigibson/object_states/update_state_mixin.py
@@ -1,6 +1,7 @@
 from omnigibson.object_states.object_state_base import BaseObjectState
 from omnigibson.utils.python_utils import classproperty
 
+
 class UpdateStateMixin(BaseObjectState):
     """
     A state-mixin that allows for per-sim-step updates via the update() call
diff --git a/omnigibson/objects/__init__.py b/omnigibson/objects/__init__.py
index e0546fda95..e2c6356725 100644
--- a/omnigibson/objects/__init__.py
+++ b/omnigibson/objects/__init__.py
@@ -1,8 +1,7 @@
-from omnigibson.objects.object_base import REGISTERED_OBJECTS, BaseObject
 from omnigibson.objects.controllable_object import ControllableObject
 from omnigibson.objects.dataset_object import DatasetObject
 from omnigibson.objects.light_object import LightObject
+from omnigibson.objects.object_base import REGISTERED_OBJECTS, BaseObject
 from omnigibson.objects.primitive_object import PrimitiveObject
 from omnigibson.objects.stateful_object import StatefulObject
 from omnigibson.objects.usd_object import USDObject
-
diff --git a/omnigibson/objects/controllable_object.py b/omnigibson/objects/controllable_object.py
index 60301dd137..9cb5534cb5 100644
--- a/omnigibson/objects/controllable_object.py
+++ b/omnigibson/objects/controllable_object.py
@@ -1,13 +1,15 @@
 from abc import abstractmethod
 from copy import deepcopy
-import numpy as np
+
 import gym
+import numpy as np
+
 import omnigibson as og
-from omnigibson.objects.object_base import BaseObject
 from omnigibson.controllers import create_controller
 from omnigibson.controllers.controller_base import ControlType
-from omnigibson.utils.python_utils import assert_valid_key, merge_nested_dicts, CachedFunctions
+from omnigibson.objects.object_base import BaseObject
 from omnigibson.utils.constants import PrimType
+from omnigibson.utils.python_utils import CachedFunctions, assert_valid_key, merge_nested_dicts
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/objects/dataset_object.py b/omnigibson/objects/dataset_object.py
index 2136d76344..95668931ba 100644
--- a/omnigibson/objects/dataset_object.py
+++ b/omnigibson/objects/dataset_object.py
@@ -1,16 +1,21 @@
 import math
 import os
+
 import numpy as np
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import gm
-from omnigibson.objects.usd_object import USDObject
-from omnigibson.utils.constants import AVERAGE_CATEGORY_SPECS, DEFAULT_JOINT_FRICTION, SPECIAL_JOINT_FRICTIONS, JointType
 import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros, gm
+from omnigibson.objects.usd_object import USDObject
 from omnigibson.utils.asset_utils import get_all_object_category_models
-from omnigibson.utils.constants import PrimType
-from omnigibson.macros import gm, create_module_macros
+from omnigibson.utils.constants import (
+    AVERAGE_CATEGORY_SPECS,
+    DEFAULT_JOINT_FRICTION,
+    SPECIAL_JOINT_FRICTIONS,
+    JointType,
+    PrimType,
+)
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/objects/light_object.py b/omnigibson/objects/light_object.py
index 4421a08eb3..1d7e799e30 100644
--- a/omnigibson/objects/light_object.py
+++ b/omnigibson/objects/light_object.py
@@ -1,11 +1,12 @@
+import numpy as np
+
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.objects.stateful_object import StatefulObject
 from omnigibson.prims.xform_prim import XFormPrim
-from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.constants import PrimType
+from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.ui_utils import create_module_logger
-import numpy as np
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/objects/object_base.py b/omnigibson/objects/object_base.py
index 673f33f5c0..31c86a55ce 100644
--- a/omnigibson/objects/object_base.py
+++ b/omnigibson/objects/object_base.py
@@ -1,19 +1,19 @@
 from abc import ABCMeta
-import numpy as np
 from collections.abc import Iterable
+
+import numpy as np
 import trimesh
 from scipy.spatial.transform import Rotation
 
 import omnigibson as og
 import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import create_module_macros, gm
-from omnigibson.utils.usd_utils import create_joint, CollisionAPI
 from omnigibson.prims.entity_prim import EntityPrim
-from omnigibson.utils.python_utils import Registerable, classproperty, get_uuid
 from omnigibson.utils.constants import PrimType, semantic_class_name_to_id
+from omnigibson.utils.python_utils import Registerable, classproperty, get_uuid
 from omnigibson.utils.ui_utils import create_module_logger, suppress_omni_log
-import omnigibson.utils.transform_utils as T
-
+from omnigibson.utils.usd_utils import CollisionAPI, create_joint
 
 # Global dicts that will contain mappings
 REGISTERED_OBJECTS = dict()
diff --git a/omnigibson/objects/primitive_object.py b/omnigibson/objects/primitive_object.py
index ea24026183..8395383b38 100644
--- a/omnigibson/objects/primitive_object.py
+++ b/omnigibson/objects/primitive_object.py
@@ -1,14 +1,14 @@
 import numpy as np
-from omnigibson.objects.stateful_object import StatefulObject
-from omnigibson.utils.python_utils import assert_valid_key
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.utils.constants import PrimType, PRIMITIVE_MESH_TYPES
-from omnigibson.utils.usd_utils import create_primitive_mesh
-from omnigibson.utils.render_utils import create_pbr_material
+from omnigibson.objects.stateful_object import StatefulObject
+from omnigibson.utils.constants import PRIMITIVE_MESH_TYPES, PrimType
 from omnigibson.utils.physx_utils import bind_material
+from omnigibson.utils.python_utils import assert_valid_key
+from omnigibson.utils.render_utils import create_pbr_material
 from omnigibson.utils.ui_utils import create_module_logger
+from omnigibson.utils.usd_utils import create_primitive_mesh
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/objects/stateful_object.py b/omnigibson/objects/stateful_object.py
index 20bc82003a..c34fa3c531 100644
--- a/omnigibson/objects/stateful_object.py
+++ b/omnigibson/objects/stateful_object.py
@@ -2,33 +2,32 @@
 from collections import defaultdict
 
 import numpy as np
-
 from bddl.object_taxonomy import ObjectTaxonomy
 
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.macros import create_module_macros, gm
+from omnigibson.object_states import Saturated
 from omnigibson.object_states.factory import (
     get_default_states,
-    get_state_name,
+    get_fire_states,
     get_requirements_for_ability,
-    get_states_for_ability,
+    get_state_name,
     get_states_by_dependency_order,
-    get_texture_change_states,
-    get_fire_states,
+    get_states_for_ability,
     get_steam_states,
-    get_visual_states,
     get_texture_change_priority,
+    get_texture_change_states,
+    get_visual_states,
 )
-from omnigibson.object_states.object_state_base import REGISTERED_OBJECT_STATES
 from omnigibson.object_states.heat_source_or_sink import HeatSourceOrSink
+from omnigibson.object_states.object_state_base import REGISTERED_OBJECT_STATES
 from omnigibson.object_states.on_fire import OnFire
 from omnigibson.object_states.particle_modifier import ParticleRemover
 from omnigibson.objects.object_base import BaseObject
 from omnigibson.renderer_settings.renderer_settings import RendererSettings
-from omnigibson.utils.constants import PrimType, EmitterType
+from omnigibson.utils.constants import EmitterType, PrimType
 from omnigibson.utils.python_utils import classproperty, extract_class_init_kwargs_from_dict
-from omnigibson.object_states import Saturated
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/objects/usd_object.py b/omnigibson/objects/usd_object.py
index f614929ccc..e9b5591eda 100644
--- a/omnigibson/objects/usd_object.py
+++ b/omnigibson/objects/usd_object.py
@@ -3,9 +3,9 @@
 
 import omnigibson as og
 from omnigibson.objects.stateful_object import StatefulObject
+from omnigibson.utils.asset_utils import decrypt_file
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.usd_utils import add_asset_to_stage
-from omnigibson.utils.asset_utils import decrypt_file
 
 
 class USDObject(StatefulObject):
diff --git a/omnigibson/prims/__init__.py b/omnigibson/prims/__init__.py
index c6b0bb47b2..ec7f6a9f6f 100644
--- a/omnigibson/prims/__init__.py
+++ b/omnigibson/prims/__init__.py
@@ -1,7 +1,7 @@
-from omnigibson.prims.prim_base import BasePrim
 from omnigibson.prims.cloth_prim import ClothPrim
 from omnigibson.prims.entity_prim import EntityPrim
-from omnigibson.prims.geom_prim import GeomPrim, VisualGeomPrim, CollisionGeomPrim, CollisionVisualGeomPrim
+from omnigibson.prims.geom_prim import CollisionGeomPrim, CollisionVisualGeomPrim, GeomPrim, VisualGeomPrim
 from omnigibson.prims.joint_prim import JointPrim
+from omnigibson.prims.prim_base import BasePrim
 from omnigibson.prims.rigid_prim import RigidPrim
 from omnigibson.prims.xform_prim import XFormPrim
diff --git a/omnigibson/prims/cloth_prim.py b/omnigibson/prims/cloth_prim.py
index 996aae7f88..c1d9e1eac1 100644
--- a/omnigibson/prims/cloth_prim.py
+++ b/omnigibson/prims/cloth_prim.py
@@ -7,20 +7,19 @@
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 #
 
-import omnigibson.lazy as lazy
+from collections.abc import Iterable
+
+import numpy as np
 
+import omnigibson as og
+import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import create_module_macros, gm
 from omnigibson.prims.geom_prim import GeomPrim
 from omnigibson.systems import get_system
-import omnigibson.utils.transform_utils as T
+from omnigibson.utils.python_utils import classproperty
 from omnigibson.utils.sim_utils import CsRawData
 from omnigibson.utils.usd_utils import array_to_vtarray, mesh_prim_to_trimesh_mesh, sample_mesh_keypoints
-from omnigibson.utils.python_utils import classproperty
-import omnigibson as og
-
-import numpy as np
-from collections.abc import Iterable
-
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/prims/entity_prim.py b/omnigibson/prims/entity_prim.py
index 90a8276d52..a6436c03d6 100644
--- a/omnigibson/prims/entity_prim.py
+++ b/omnigibson/prims/entity_prim.py
@@ -1,22 +1,20 @@
-import numpy as np
-import networkx as nx
 from functools import cached_property
 
+import networkx as nx
+import numpy as np
+
 import omnigibson as og
 import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
-
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.prims.cloth_prim import ClothPrim
 from omnigibson.prims.joint_prim import JointPrim
 from omnigibson.prims.rigid_prim import RigidPrim
 from omnigibson.prims.xform_prim import XFormPrim
-from omnigibson.utils.constants import PrimType, JointType, JointAxis
+from omnigibson.utils.constants import JointAxis, JointType, PrimType
 from omnigibson.utils.ui_utils import suppress_omni_log
 from omnigibson.utils.usd_utils import PoseAPI
 
-from omnigibson.macros import gm, create_module_macros
-
-
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/prims/geom_prim.py b/omnigibson/prims/geom_prim.py
index 64f034db9e..a66edaa022 100644
--- a/omnigibson/prims/geom_prim.py
+++ b/omnigibson/prims/geom_prim.py
@@ -1,14 +1,15 @@
 from functools import cached_property
+
 import numpy as np
 import trimesh
 
 import omnigibson as og
 import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
 from omnigibson.prims.xform_prim import XFormPrim
 from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.usd_utils import PoseAPI, mesh_prim_shape_to_trimesh_mesh
-import omnigibson.utils.transform_utils as T
 
 
 class GeomPrim(XFormPrim):
diff --git a/omnigibson/prims/joint_prim.py b/omnigibson/prims/joint_prim.py
index 19d64bb8df..13cd2d2051 100644
--- a/omnigibson/prims/joint_prim.py
+++ b/omnigibson/prims/joint_prim.py
@@ -1,16 +1,16 @@
 from collections.abc import Iterable
+
 import numpy as np
+
 import omnigibson as og
 import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
+from omnigibson.controllers.controller_base import ControlType
 from omnigibson.macros import create_module_macros
 from omnigibson.prims.prim_base import BasePrim
-from omnigibson.utils.usd_utils import PoseAPI, create_joint
-from omnigibson.utils.constants import JointType, JointAxis
+from omnigibson.utils.constants import JointAxis, JointType
 from omnigibson.utils.python_utils import assert_valid_key
-import omnigibson.utils.transform_utils as T
-
-from omnigibson.controllers.controller_base import ControlType
-
+from omnigibson.utils.usd_utils import PoseAPI, create_joint
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/prims/material_prim.py b/omnigibson/prims/material_prim.py
index d7bbac6303..0812d8d7df 100644
--- a/omnigibson/prims/material_prim.py
+++ b/omnigibson/prims/material_prim.py
@@ -1,11 +1,12 @@
-import numpy as np
 import asyncio
 import os
 
+import numpy as np
+
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.utils.physx_utils import bind_material
 from omnigibson.prims.prim_base import BasePrim
+from omnigibson.utils.physx_utils import bind_material
 
 
 class MaterialPrim(BasePrim):
diff --git a/omnigibson/prims/prim_base.py b/omnigibson/prims/prim_base.py
index 251808a230..74ec05c93e 100644
--- a/omnigibson/prims/prim_base.py
+++ b/omnigibson/prims/prim_base.py
@@ -2,7 +2,7 @@
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.utils.python_utils import Serializable, UniquelyNamed, Recreatable
+from omnigibson.utils.python_utils import Recreatable, Serializable, UniquelyNamed
 from omnigibson.utils.sim_utils import check_deletable_prim
 from omnigibson.utils.ui_utils import create_module_logger
 
diff --git a/omnigibson/prims/rigid_prim.py b/omnigibson/prims/rigid_prim.py
index 184e4d2e67..8028d7b987 100644
--- a/omnigibson/prims/rigid_prim.py
+++ b/omnigibson/prims/rigid_prim.py
@@ -1,17 +1,18 @@
 from functools import cached_property
-from scipy.spatial import ConvexHull, QhullError
+
 import numpy as np
+from scipy.spatial import ConvexHull, QhullError
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import gm, create_module_macros
-from omnigibson.prims.xform_prim import XFormPrim
+import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.prims.geom_prim import CollisionGeomPrim, VisualGeomPrim
+from omnigibson.prims.xform_prim import XFormPrim
 from omnigibson.utils.constants import GEOM_TYPES
 from omnigibson.utils.sim_utils import CsRawData
-from omnigibson.utils.usd_utils import PoseAPI, get_mesh_volume_and_com, check_extent_radius_ratio
-import omnigibson.utils.transform_utils as T
 from omnigibson.utils.ui_utils import create_module_logger
+from omnigibson.utils.usd_utils import PoseAPI, check_extent_radius_ratio, get_mesh_volume_and_com
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/prims/xform_prim.py b/omnigibson/prims/xform_prim.py
index 929d0ebf15..1211342eeb 100644
--- a/omnigibson/prims/xform_prim.py
+++ b/omnigibson/prims/xform_prim.py
@@ -1,16 +1,18 @@
 from collections.abc import Iterable
+
 import numpy as np
+import trimesh.transformations
+from scipy.spatial.transform import Rotation as R
+
 import omnigibson as og
-from omnigibson.macros import gm
 import omnigibson.lazy as lazy
-from omnigibson.prims.prim_base import BasePrim
+import omnigibson.utils.transform_utils as T
+from omnigibson.macros import gm
 from omnigibson.prims.material_prim import MaterialPrim
+from omnigibson.prims.prim_base import BasePrim
 from omnigibson.utils.transform_utils import quat2euler
 from omnigibson.utils.usd_utils import PoseAPI
-import omnigibson.utils.transform_utils as T
-from scipy.spatial.transform import Rotation as R
-from omnigibson.macros import gm
-import trimesh.transformations
+
 
 class XFormPrim(BasePrim):
     """
diff --git a/omnigibson/renderer_settings/common_settings.py b/omnigibson/renderer_settings/common_settings.py
index 70ff00d40e..d5380da410 100644
--- a/omnigibson/renderer_settings/common_settings.py
+++ b/omnigibson/renderer_settings/common_settings.py
@@ -1,5 +1,4 @@
 import omnigibson.lazy as lazy
-
 from omnigibson.renderer_settings.settings_base import SettingItem, SettingsBase, SubSettingsBase
 
 
diff --git a/omnigibson/renderer_settings/path_tracing_settings.py b/omnigibson/renderer_settings/path_tracing_settings.py
index c1b96fa90e..6a70136ae1 100644
--- a/omnigibson/renderer_settings/path_tracing_settings.py
+++ b/omnigibson/renderer_settings/path_tracing_settings.py
@@ -1,5 +1,4 @@
 import omnigibson.lazy as lazy
-
 from omnigibson.renderer_settings.settings_base import SettingItem, SettingsBase, SubSettingsBase
 
 
diff --git a/omnigibson/renderer_settings/post_processing_settings.py b/omnigibson/renderer_settings/post_processing_settings.py
index 56dc952f73..efdd257d4d 100644
--- a/omnigibson/renderer_settings/post_processing_settings.py
+++ b/omnigibson/renderer_settings/post_processing_settings.py
@@ -1,5 +1,4 @@
 import omnigibson.lazy as lazy
-
 from omnigibson.renderer_settings.settings_base import SettingItem, SettingsBase, SubSettingsBase
 
 
diff --git a/omnigibson/renderer_settings/real_time_settings.py b/omnigibson/renderer_settings/real_time_settings.py
index ef123b1b0a..643e76bd67 100644
--- a/omnigibson/renderer_settings/real_time_settings.py
+++ b/omnigibson/renderer_settings/real_time_settings.py
@@ -1,5 +1,4 @@
 import omnigibson.lazy as lazy
-
 from omnigibson.renderer_settings.settings_base import SettingItem, SettingsBase, SubSettingsBase
 
 
diff --git a/omnigibson/renderer_settings/settings_base.py b/omnigibson/renderer_settings/settings_base.py
index 851a1a9c8c..b39badee32 100644
--- a/omnigibson/renderer_settings/settings_base.py
+++ b/omnigibson/renderer_settings/settings_base.py
@@ -1,6 +1,7 @@
 from abc import ABCMeta
 
 import numpy as np
+
 import omnigibson.lazy as lazy
 
 
diff --git a/omnigibson/reward_functions/__init__.py b/omnigibson/reward_functions/__init__.py
index d667bfd0b5..9f670d95e1 100644
--- a/omnigibson/reward_functions/__init__.py
+++ b/omnigibson/reward_functions/__init__.py
@@ -1,5 +1,5 @@
-from omnigibson.reward_functions.reward_function_base import BaseRewardFunction, REGISTERED_REWARD_FUNCTIONS
 from omnigibson.reward_functions.collision_reward import CollisionReward
 from omnigibson.reward_functions.point_goal_reward import PointGoalReward
 from omnigibson.reward_functions.potential_reward import PotentialReward
 from omnigibson.reward_functions.reaching_goal_reward import ReachingGoalReward
+from omnigibson.reward_functions.reward_function_base import REGISTERED_REWARD_FUNCTIONS, BaseRewardFunction
diff --git a/omnigibson/reward_functions/collision_reward.py b/omnigibson/reward_functions/collision_reward.py
index b1a5f66ba6..55c52c0f5f 100644
--- a/omnigibson/reward_functions/collision_reward.py
+++ b/omnigibson/reward_functions/collision_reward.py
@@ -1,5 +1,5 @@
-from omnigibson.reward_functions.reward_function_base import BaseRewardFunction
 from omnigibson.object_states.contact_bodies import ContactBodies
+from omnigibson.reward_functions.reward_function_base import BaseRewardFunction
 
 
 class CollisionReward(BaseRewardFunction):
diff --git a/omnigibson/reward_functions/reaching_goal_reward.py b/omnigibson/reward_functions/reaching_goal_reward.py
index ec398919ef..6a69ac20f2 100644
--- a/omnigibson/reward_functions/reaching_goal_reward.py
+++ b/omnigibson/reward_functions/reaching_goal_reward.py
@@ -1,5 +1,5 @@
-from omnigibson.reward_functions.reward_function_base import BaseRewardFunction
 import omnigibson.utils.transform_utils as T
+from omnigibson.reward_functions.reward_function_base import BaseRewardFunction
 
 
 class ReachingGoalReward(BaseRewardFunction):
diff --git a/omnigibson/reward_functions/reward_function_base.py b/omnigibson/reward_functions/reward_function_base.py
index d21d1780dd..03b22164fa 100644
--- a/omnigibson/reward_functions/reward_function_base.py
+++ b/omnigibson/reward_functions/reward_function_base.py
@@ -1,6 +1,7 @@
 from abc import ABCMeta, abstractmethod
 from copy import deepcopy
-from omnigibson.utils.python_utils import classproperty, Registerable
+
+from omnigibson.utils.python_utils import Registerable, classproperty
 
 REGISTERED_REWARD_FUNCTIONS = dict()
 
diff --git a/omnigibson/robots/__init__.py b/omnigibson/robots/__init__.py
index f2a4145c81..18b29fd780 100644
--- a/omnigibson/robots/__init__.py
+++ b/omnigibson/robots/__init__.py
@@ -1,16 +1,16 @@
 from omnigibson.robots.active_camera_robot import ActiveCameraRobot
+from omnigibson.robots.behavior_robot import BehaviorRobot
+from omnigibson.robots.fetch import Fetch
+from omnigibson.robots.franka import FrankaPanda
+from omnigibson.robots.franka_allegro import FrankaAllegro
+from omnigibson.robots.franka_leap import FrankaLeap
 from omnigibson.robots.freight import Freight
 from omnigibson.robots.husky import Husky
 from omnigibson.robots.locobot import Locobot
 from omnigibson.robots.locomotion_robot import LocomotionRobot
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 from omnigibson.robots.robot_base import REGISTERED_ROBOTS, BaseRobot
-from omnigibson.robots.turtlebot import Turtlebot
-from omnigibson.robots.fetch import Fetch
 from omnigibson.robots.tiago import Tiago
+from omnigibson.robots.turtlebot import Turtlebot
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
-from omnigibson.robots.franka import FrankaPanda
-from omnigibson.robots.franka_allegro import FrankaAllegro
-from omnigibson.robots.franka_leap import FrankaLeap
 from omnigibson.robots.vx300s import VX300S
-from omnigibson.robots.behavior_robot import BehaviorRobot
diff --git a/omnigibson/robots/active_camera_robot.py b/omnigibson/robots/active_camera_robot.py
index adb6958ad1..a0e707de71 100644
--- a/omnigibson/robots/active_camera_robot.py
+++ b/omnigibson/robots/active_camera_robot.py
@@ -1,4 +1,5 @@
 from abc import abstractmethod
+
 import numpy as np
 
 from omnigibson.robots.robot_base import BaseRobot
diff --git a/omnigibson/robots/behavior_robot.py b/omnigibson/robots/behavior_robot.py
index 652cf70d4c..2cd36d0af4 100644
--- a/omnigibson/robots/behavior_robot.py
+++ b/omnigibson/robots/behavior_robot.py
@@ -1,19 +1,20 @@
+import itertools
+import os
 from abc import ABC
 from collections import OrderedDict
-import itertools
+from typing import Iterable, List, Tuple
+
 import numpy as np
-import os
 from scipy.spatial.transform import Rotation as R
-from typing import List, Tuple, Iterable
 
 import omnigibson as og
 import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
-from omnigibson.macros import gm, create_module_macros
-from omnigibson.robots.locomotion_robot import LocomotionRobot
-from omnigibson.robots.manipulation_robot import ManipulationRobot, GraspingPoint
-from omnigibson.robots.active_camera_robot import ActiveCameraRobot
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.objects.usd_object import USDObject
+from omnigibson.robots.active_camera_robot import ActiveCameraRobot
+from omnigibson.robots.locomotion_robot import LocomotionRobot
+from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 
 m = create_module_macros(module_path=__file__)
 # component suffixes for the 6-DOF arm joint names
diff --git a/omnigibson/robots/fetch.py b/omnigibson/robots/fetch.py
index dcab8c631e..b0ad3b8c3d 100644
--- a/omnigibson/robots/fetch.py
+++ b/omnigibson/robots/fetch.py
@@ -1,14 +1,15 @@
 import os
+
 import numpy as np
 
-from omnigibson.macros import gm
 from omnigibson.controllers import ControlType
+from omnigibson.macros import gm
 from omnigibson.robots.active_camera_robot import ActiveCameraRobot
 from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
 from omnigibson.utils.python_utils import assert_valid_key
-from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.transform_utils import euler2quat
+from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.usd_utils import JointType
 
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/robots/franka.py b/omnigibson/robots/franka.py
index 7fa6fd7e4b..b27fa64cdc 100644
--- a/omnigibson/robots/franka.py
+++ b/omnigibson/robots/franka.py
@@ -1,8 +1,9 @@
 import os
+
 import numpy as np
 
 from omnigibson.macros import gm
-from omnigibson.robots.manipulation_robot import ManipulationRobot, GraspingPoint
+from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 from omnigibson.utils.transform_utils import euler2quat
 
 
diff --git a/omnigibson/robots/franka_allegro.py b/omnigibson/robots/franka_allegro.py
index fd3a8ecf2b..3833612496 100644
--- a/omnigibson/robots/franka_allegro.py
+++ b/omnigibson/robots/franka_allegro.py
@@ -1,9 +1,10 @@
 import os
+
 import numpy as np
 
 import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
-from omnigibson.robots.manipulation_robot import ManipulationRobot, GraspingPoint
+from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 
 
 class FrankaAllegro(ManipulationRobot):
diff --git a/omnigibson/robots/franka_leap.py b/omnigibson/robots/franka_leap.py
index 7356e28f05..641d7e958b 100644
--- a/omnigibson/robots/franka_leap.py
+++ b/omnigibson/robots/franka_leap.py
@@ -1,10 +1,11 @@
 import os
-import numpy as np
 from typing import Dict, Iterable
 
+import numpy as np
+
 import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
-from omnigibson.robots.manipulation_robot import ManipulationRobot, GraspingPoint
+from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 
 
 class FrankaLeap(ManipulationRobot):
diff --git a/omnigibson/robots/freight.py b/omnigibson/robots/freight.py
index 475b446fe4..b79cf9696a 100644
--- a/omnigibson/robots/freight.py
+++ b/omnigibson/robots/freight.py
@@ -1,4 +1,5 @@
 import os
+
 import numpy as np
 
 from omnigibson.macros import gm
diff --git a/omnigibson/robots/husky.py b/omnigibson/robots/husky.py
index 37f3021940..90ae868e6f 100644
--- a/omnigibson/robots/husky.py
+++ b/omnigibson/robots/husky.py
@@ -1,4 +1,5 @@
 import os
+
 import numpy as np
 
 from omnigibson.macros import gm
diff --git a/omnigibson/robots/locobot.py b/omnigibson/robots/locobot.py
index 2f027a2738..fff9d101d2 100644
--- a/omnigibson/robots/locobot.py
+++ b/omnigibson/robots/locobot.py
@@ -1,4 +1,5 @@
 import os
+
 import numpy as np
 
 from omnigibson.macros import gm
diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
index bbed134602..824d111576 100644
--- a/omnigibson/robots/manipulation_robot.py
+++ b/omnigibson/robots/manipulation_robot.py
@@ -1,26 +1,29 @@
 from abc import abstractmethod
 from collections import namedtuple
-import numpy as np
+
 import networkx as nx
+import numpy as np
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.controllers import InverseKinematicsController, MultiFingerGripperController, OperationalSpaceController
-from omnigibson.macros import gm, create_module_macros
-from omnigibson.object_states import ContactBodies
 import omnigibson.utils.transform_utils as T
 from omnigibson.controllers import (
-    IsGraspingState,
     ControlType,
-    ManipulationController,
     GripperController,
+    InverseKinematicsController,
+    IsGraspingState,
+    ManipulationController,
+    MultiFingerGripperController,
+    OperationalSpaceController,
 )
+from omnigibson.macros import create_module_macros, gm
+from omnigibson.object_states import ContactBodies
 from omnigibson.robots.robot_base import BaseRobot
-from omnigibson.utils.python_utils import classproperty, assert_valid_key
-from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function
 from omnigibson.utils.constants import JointType, PrimType
-from omnigibson.utils.usd_utils import create_joint
+from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function
+from omnigibson.utils.python_utils import assert_valid_key, classproperty
 from omnigibson.utils.sampling_utils import raytest_batch
+from omnigibson.utils.usd_utils import create_joint
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/robots/robot_base.py b/omnigibson/robots/robot_base.py
index 5e188f44a7..9261529351 100644
--- a/omnigibson/robots/robot_base.py
+++ b/omnigibson/robots/robot_base.py
@@ -1,18 +1,25 @@
 from abc import abstractmethod
 from copy import deepcopy
-import numpy as np
+
 import matplotlib.pyplot as plt
+import numpy as np
 
 from omnigibson.macros import create_module_macros
-from omnigibson.sensors import create_sensor, SENSOR_PRIMS_TO_SENSOR_CLS, ALL_SENSOR_MODALITIES, VisionSensor, ScanSensor
-from omnigibson.objects.usd_object import USDObject
-from omnigibson.objects.object_base import BaseObject
 from omnigibson.objects.controllable_object import ControllableObject
+from omnigibson.objects.object_base import BaseObject
+from omnigibson.objects.usd_object import USDObject
+from omnigibson.sensors import (
+    ALL_SENSOR_MODALITIES,
+    SENSOR_PRIMS_TO_SENSOR_CLS,
+    ScanSensor,
+    VisionSensor,
+    create_sensor,
+)
+from omnigibson.utils.constants import PrimType
 from omnigibson.utils.gym_utils import GymObservable
-from omnigibson.utils.usd_utils import add_asset_to_stage
 from omnigibson.utils.python_utils import classproperty, merge_nested_dicts
+from omnigibson.utils.usd_utils import add_asset_to_stage
 from omnigibson.utils.vision_utils import segmentation_to_rgb
-from omnigibson.utils.constants import PrimType
 
 # Global dicts that will contain mappings
 REGISTERED_ROBOTS = dict()
diff --git a/omnigibson/robots/tiago.py b/omnigibson/robots/tiago.py
index 878d50ccde..0f49ba72ea 100644
--- a/omnigibson/robots/tiago.py
+++ b/omnigibson/robots/tiago.py
@@ -1,13 +1,14 @@
 import os
+
 import numpy as np
+
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import gm
 import omnigibson.utils.transform_utils as T
-from omnigibson.macros import create_module_macros
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.robots.active_camera_robot import ActiveCameraRobot
-from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 from omnigibson.robots.locomotion_robot import LocomotionRobot
+from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.usd_utils import JointType
 
diff --git a/omnigibson/robots/turtlebot.py b/omnigibson/robots/turtlebot.py
index a77a288650..f5afa73cdd 100644
--- a/omnigibson/robots/turtlebot.py
+++ b/omnigibson/robots/turtlebot.py
@@ -1,4 +1,5 @@
 import os
+
 import numpy as np
 
 from omnigibson.macros import gm
diff --git a/omnigibson/robots/two_wheel_robot.py b/omnigibson/robots/two_wheel_robot.py
index 73bb7cb262..427931b7ff 100644
--- a/omnigibson/robots/two_wheel_robot.py
+++ b/omnigibson/robots/two_wheel_robot.py
@@ -1,4 +1,5 @@
 from abc import abstractmethod
+
 import gym
 import numpy as np
 
diff --git a/omnigibson/robots/vx300s.py b/omnigibson/robots/vx300s.py
index 202912b513..3cf8d7abdf 100644
--- a/omnigibson/robots/vx300s.py
+++ b/omnigibson/robots/vx300s.py
@@ -1,8 +1,9 @@
 import os
+
 import numpy as np
 
 from omnigibson.macros import gm
-from omnigibson.robots.manipulation_robot import ManipulationRobot, GraspingPoint
+from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 from omnigibson.utils.transform_utils import euler2quat
 
 
diff --git a/omnigibson/scene_graphs/graph_builder.py b/omnigibson/scene_graphs/graph_builder.py
index 802632d27c..281b1d44d6 100644
--- a/omnigibson/scene_graphs/graph_builder.py
+++ b/omnigibson/scene_graphs/graph_builder.py
@@ -3,14 +3,14 @@
 
 import networkx as nx
 import numpy as np
-from PIL import Image
 from matplotlib import pyplot as plt
+from PIL import Image
 
 from omnigibson import object_states
 from omnigibson.macros import create_module_macros
-from omnigibson.sensors import VisionSensor
 from omnigibson.object_states.factory import get_state_name
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin, RelativeObjectState
+from omnigibson.sensors import VisionSensor
 from omnigibson.utils import transform_utils as T
 
 
diff --git a/omnigibson/scenes/__init__.py b/omnigibson/scenes/__init__.py
index 7b5ff7944a..9eade9bd22 100644
--- a/omnigibson/scenes/__init__.py
+++ b/omnigibson/scenes/__init__.py
@@ -1,4 +1,4 @@
-from omnigibson.scenes.scene_base import Scene, REGISTERED_SCENES
-from omnigibson.scenes.traversable_scene import TraversableScene
-from omnigibson.scenes.static_traversable_scene import StaticTraversableScene
 from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
+from omnigibson.scenes.scene_base import REGISTERED_SCENES, Scene
+from omnigibson.scenes.static_traversable_scene import StaticTraversableScene
+from omnigibson.scenes.traversable_scene import TraversableScene
diff --git a/omnigibson/scenes/interactive_traversable_scene.py b/omnigibson/scenes/interactive_traversable_scene.py
index d49e213f6b..5e46977a02 100644
--- a/omnigibson/scenes/interactive_traversable_scene.py
+++ b/omnigibson/scenes/interactive_traversable_scene.py
@@ -1,8 +1,9 @@
 import os
+
+from omnigibson.maps.segmentation_map import SegmentationMap
 from omnigibson.robots.robot_base import REGISTERED_ROBOTS
 from omnigibson.robots.robot_base import m as robot_macros
 from omnigibson.scenes.traversable_scene import TraversableScene
-from omnigibson.maps.segmentation_map import SegmentationMap
 from omnigibson.utils.asset_utils import get_og_scene_path
 from omnigibson.utils.constants import STRUCTURE_CATEGORIES
 from omnigibson.utils.ui_utils import create_module_logger
diff --git a/omnigibson/scenes/scene_base.py b/omnigibson/scenes/scene_base.py
index 4c5faec905..db607f8209 100644
--- a/omnigibson/scenes/scene_base.py
+++ b/omnigibson/scenes/scene_base.py
@@ -1,24 +1,30 @@
 import json
 from abc import ABC
 from itertools import combinations
+
 import numpy as np
 
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.macros import create_module_macros, gm
-from omnigibson.prims.xform_prim import XFormPrim
+from omnigibson.objects.dataset_object import DatasetObject
+from omnigibson.objects.light_object import LightObject
+from omnigibson.objects.object_base import BaseObject
 from omnigibson.prims.material_prim import MaterialPrim
+from omnigibson.prims.xform_prim import XFormPrim
+from omnigibson.robots.robot_base import m as robot_macros
+from omnigibson.systems.system_base import SYSTEM_REGISTRY, clear_all_systems, get_system
 from omnigibson.utils.constants import STRUCTURE_CATEGORIES
-from omnigibson.utils.python_utils import classproperty, Serializable, Registerable, Recreatable, \
-    create_object_from_init_info
+from omnigibson.utils.python_utils import (
+    Recreatable,
+    Registerable,
+    Serializable,
+    classproperty,
+    create_object_from_init_info,
+)
 from omnigibson.utils.registry_utils import SerializableRegistry
 from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.usd_utils import CollisionAPI
-from omnigibson.objects.object_base import BaseObject
-from omnigibson.objects.dataset_object import DatasetObject
-from omnigibson.systems.system_base import SYSTEM_REGISTRY, clear_all_systems, get_system
-from omnigibson.objects.light_object import LightObject
-from omnigibson.robots.robot_base import m as robot_macros
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/scenes/static_traversable_scene.py b/omnigibson/scenes/static_traversable_scene.py
index 99be51731f..7ef5271667 100644
--- a/omnigibson/scenes/static_traversable_scene.py
+++ b/omnigibson/scenes/static_traversable_scene.py
@@ -2,11 +2,11 @@
 
 import numpy as np
 
-from omnigibson.scenes.traversable_scene import TraversableScene
 from omnigibson.prims.geom_prim import CollisionVisualGeomPrim
+from omnigibson.scenes.traversable_scene import TraversableScene
 from omnigibson.utils.asset_utils import get_scene_path
-from omnigibson.utils.usd_utils import add_asset_to_stage
 from omnigibson.utils.ui_utils import create_module_logger
+from omnigibson.utils.usd_utils import add_asset_to_stage
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/scenes/traversable_scene.py b/omnigibson/scenes/traversable_scene.py
index ecb26b9d9e..a2ba982652 100644
--- a/omnigibson/scenes/traversable_scene.py
+++ b/omnigibson/scenes/traversable_scene.py
@@ -1,5 +1,5 @@
-from omnigibson.scenes.scene_base import Scene
 from omnigibson.maps.traversable_map import TraversableMap
+from omnigibson.scenes.scene_base import Scene
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/sensors/__init__.py b/omnigibson/sensors/__init__.py
index 215aa09244..be8e4e1f11 100644
--- a/omnigibson/sensors/__init__.py
+++ b/omnigibson/sensors/__init__.py
@@ -1,11 +1,9 @@
-from omnigibson.utils.python_utils import assert_valid_key
-
-from omnigibson.sensors.sensor_base import BaseSensor, REGISTERED_SENSORS, ALL_SENSOR_MODALITIES
+from omnigibson.sensors.dropout_sensor_noise import DropoutSensorNoise
 from omnigibson.sensors.scan_sensor import ScanSensor
+from omnigibson.sensors.sensor_base import ALL_SENSOR_MODALITIES, REGISTERED_SENSORS, BaseSensor
+from omnigibson.sensors.sensor_noise_base import REGISTERED_SENSOR_NOISES, BaseSensorNoise
 from omnigibson.sensors.vision_sensor import VisionSensor
-from omnigibson.sensors.sensor_noise_base import BaseSensorNoise, REGISTERED_SENSOR_NOISES
-from omnigibson.sensors.dropout_sensor_noise import DropoutSensorNoise
-
+from omnigibson.utils.python_utils import assert_valid_key
 
 # Map sensor prim names to corresponding sensor classes
 SENSOR_PRIMS_TO_SENSOR_CLS = {
diff --git a/omnigibson/sensors/scan_sensor.py b/omnigibson/sensors/scan_sensor.py
index 5c88063a02..a524a29966 100644
--- a/omnigibson/sensors/scan_sensor.py
+++ b/omnigibson/sensors/scan_sensor.py
@@ -1,7 +1,7 @@
-import cv2
-import numpy as np
 from collections.abc import Iterable
 
+import cv2
+import numpy as np
 from transforms3d.quaternions import quat2mat
 
 import omnigibson.lazy as lazy
diff --git a/omnigibson/sensors/sensor_base.py b/omnigibson/sensors/sensor_base.py
index a516b5bec1..1e12f27d59 100644
--- a/omnigibson/sensors/sensor_base.py
+++ b/omnigibson/sensors/sensor_base.py
@@ -1,9 +1,10 @@
 from abc import ABCMeta
-from omnigibson.prims.xform_prim import XFormPrim
-from omnigibson.utils.python_utils import classproperty, assert_valid_key, Registerable
-from omnigibson.utils.gym_utils import GymObservable
+
 from gym.spaces import Space
 
+from omnigibson.prims.xform_prim import XFormPrim
+from omnigibson.utils.gym_utils import GymObservable
+from omnigibson.utils.python_utils import Registerable, assert_valid_key, classproperty
 
 # Registered sensors
 REGISTERED_SENSORS = dict()
diff --git a/omnigibson/sensors/sensor_noise_base.py b/omnigibson/sensors/sensor_noise_base.py
index cf7b8220d9..d5c165ddca 100644
--- a/omnigibson/sensors/sensor_noise_base.py
+++ b/omnigibson/sensors/sensor_noise_base.py
@@ -1,7 +1,6 @@
 from abc import ABCMeta, abstractmethod
 
-from omnigibson.utils.python_utils import classproperty, Registerable
-
+from omnigibson.utils.python_utils import Registerable, classproperty
 
 # Registered sensor noises
 REGISTERED_SENSOR_NOISES = dict()
diff --git a/omnigibson/sensors/vision_sensor.py b/omnigibson/sensors/vision_sensor.py
index b53cdb55c6..480ebd89b3 100644
--- a/omnigibson/sensors/vision_sensor.py
+++ b/omnigibson/sensors/vision_sensor.py
@@ -1,12 +1,19 @@
-import numpy as np
 import time
+
 import gym
+import numpy as np
 
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.sensors.sensor_base import BaseSensor
 from omnigibson.systems.system_base import REGISTERED_SYSTEMS
-from omnigibson.utils.constants import MAX_CLASS_COUNT, MAX_INSTANCE_COUNT, MAX_VIEWER_SIZE, semantic_class_name_to_id, semantic_class_id_to_name
+from omnigibson.utils.constants import (
+    MAX_CLASS_COUNT,
+    MAX_INSTANCE_COUNT,
+    MAX_VIEWER_SIZE,
+    semantic_class_id_to_name,
+    semantic_class_name_to_id,
+)
 from omnigibson.utils.python_utils import assert_valid_key, classproperty
 from omnigibson.utils.sim_utils import set_carb_setting
 from omnigibson.utils.ui_utils import dock_window
diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py
index 8c2462d06a..f9137c8a37 100644
--- a/omnigibson/simulator.py
+++ b/omnigibson/simulator.py
@@ -1,39 +1,49 @@
-from collections import defaultdict
-import itertools
+import atexit
 import contextlib
+import itertools
+import json
 import logging
 import os
 import shutil
-import socket
-from pathlib import Path
-import atexit
 import signal
+import socket
+from collections import defaultdict
 from contextlib import nullcontext
+from pathlib import Path
 
 import numpy as np
-import json
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import gm, create_module_macros
-from omnigibson.utils.constants import LightingMode
-from omnigibson.utils.config_utils import NumpyEncoder
-from omnigibson.utils.python_utils import clear as clear_pu, create_object_from_init_info, Serializable
-from omnigibson.utils.sim_utils import meets_minimum_isaac_version
-from omnigibson.utils.usd_utils import clear as clear_uu, FlatcacheAPI, RigidContactAPI, PoseAPI
-from omnigibson.utils.ui_utils import (CameraMover, disclaimer, create_module_logger, suppress_omni_log,
-                                       print_icon, print_logo, logo_small)
-from omnigibson.scenes import Scene
-from omnigibson.objects.object_base import BaseObject
-from omnigibson.objects.stateful_object import StatefulObject
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.object_states.contact_subscribed_state_mixin import ContactSubscribedStateMixin
-from omnigibson.object_states.joint_break_subscribed_state_mixin import JointBreakSubscribedStateMixin
 from omnigibson.object_states.factory import get_states_by_dependency_order
-from omnigibson.object_states.update_state_mixin import UpdateStateMixin, GlobalUpdateStateMixin
+from omnigibson.object_states.joint_break_subscribed_state_mixin import JointBreakSubscribedStateMixin
+from omnigibson.object_states.update_state_mixin import GlobalUpdateStateMixin, UpdateStateMixin
+from omnigibson.objects.object_base import BaseObject
+from omnigibson.objects.stateful_object import StatefulObject
 from omnigibson.prims.material_prim import MaterialPrim
+from omnigibson.scenes import Scene
 from omnigibson.sensors.vision_sensor import VisionSensor
 from omnigibson.systems.macro_particle_system import MacroPhysicalParticleSystem
 from omnigibson.transition_rules import TransitionRuleAPI
+from omnigibson.utils.config_utils import NumpyEncoder
+from omnigibson.utils.constants import LightingMode
+from omnigibson.utils.python_utils import Serializable
+from omnigibson.utils.python_utils import clear as clear_pu
+from omnigibson.utils.python_utils import create_object_from_init_info
+from omnigibson.utils.sim_utils import meets_minimum_isaac_version
+from omnigibson.utils.ui_utils import (
+    CameraMover,
+    create_module_logger,
+    disclaimer,
+    logo_small,
+    print_icon,
+    print_logo,
+    suppress_omni_log,
+)
+from omnigibson.utils.usd_utils import FlatcacheAPI, PoseAPI, RigidContactAPI
+from omnigibson.utils.usd_utils import clear as clear_uu
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
@@ -66,8 +76,10 @@ def _launch_app():
     # Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
     if not gm.DEBUG:
         import sys
-        from numba.core.errors import NumbaPerformanceWarning
         import warnings
+
+        from numba.core.errors import NumbaPerformanceWarning
+
         # TODO: Find a more elegant way to prune omni logging
         # sys.argv.append("--/log/level=warning")
         # sys.argv.append("--/log/fileLogLevel=warning")
diff --git a/omnigibson/systems/__init__.py b/omnigibson/systems/__init__.py
index 1ec98f2a4b..32b53985df 100644
--- a/omnigibson/systems/__init__.py
+++ b/omnigibson/systems/__init__.py
@@ -1,8 +1,17 @@
-from omnigibson.systems.system_base import get_system, is_system_active, is_visual_particle_system, \
-    is_physical_particle_system, SYSTEM_REGISTRY, add_callback_on_system_init, add_callback_on_system_clear, \
-    remove_callback_on_system_init, remove_callback_on_system_clear, import_og_systems
-from omnigibson.systems.micro_particle_system import *
 from omnigibson.systems.macro_particle_system import *
+from omnigibson.systems.micro_particle_system import *
+from omnigibson.systems.system_base import (
+    SYSTEM_REGISTRY,
+    add_callback_on_system_clear,
+    add_callback_on_system_init,
+    get_system,
+    import_og_systems,
+    is_physical_particle_system,
+    is_system_active,
+    is_visual_particle_system,
+    remove_callback_on_system_clear,
+    remove_callback_on_system_init,
+)
 
 # Import all OG systems from dataset
 import_og_systems()
diff --git a/omnigibson/systems/macro_particle_system.py b/omnigibson/systems/macro_particle_system.py
index 6bb131da91..51d572949e 100644
--- a/omnigibson/systems/macro_particle_system.py
+++ b/omnigibson/systems/macro_particle_system.py
@@ -1,21 +1,22 @@
 import os
+
 import matplotlib.pyplot as plt
+import numpy as np
 import trimesh
+from scipy.spatial.transform import Rotation as R
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import gm, create_module_macros
+import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros, gm
+from omnigibson.prims.geom_prim import CollisionVisualGeomPrim, VisualGeomPrim
 from omnigibson.prims.xform_prim import XFormPrim
-from omnigibson.systems.system_base import BaseSystem, VisualParticleSystem, PhysicalParticleSystem, REGISTERED_SYSTEMS
+from omnigibson.systems.system_base import REGISTERED_SYSTEMS, BaseSystem, PhysicalParticleSystem, VisualParticleSystem
 from omnigibson.utils.constants import PrimType
-from omnigibson.utils.python_utils import classproperty, subclass_factory, snake_case_to_camel_case
+from omnigibson.utils.python_utils import classproperty, snake_case_to_camel_case, subclass_factory
 from omnigibson.utils.sampling_utils import sample_cuboid_on_object_symmetric_bimodal_distribution
-import omnigibson.utils.transform_utils as T
-from omnigibson.utils.usd_utils import FlatcacheAPI
-from omnigibson.prims.geom_prim import VisualGeomPrim, CollisionVisualGeomPrim
-import numpy as np
-from scipy.spatial.transform import Rotation as R
 from omnigibson.utils.ui_utils import create_module_logger, suppress_omni_log
+from omnigibson.utils.usd_utils import FlatcacheAPI
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/systems/micro_particle_system.py b/omnigibson/systems/micro_particle_system.py
index ac4c84880f..e4dd45db2d 100644
--- a/omnigibson/systems/micro_particle_system.py
+++ b/omnigibson/systems/micro_particle_system.py
@@ -1,26 +1,27 @@
+import datetime
+import os
+import tempfile
 import uuid
+from collections import defaultdict
+from pathlib import Path
+
+import numpy as np
+import pymeshlab
+import trimesh
+
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import gm, create_module_macros
-from omnigibson.prims.prim_base import BasePrim
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.prims.geom_prim import VisualGeomPrim
 from omnigibson.prims.material_prim import MaterialPrim
-from omnigibson.systems.system_base import BaseSystem, PhysicalParticleSystem, REGISTERED_SYSTEMS
+from omnigibson.prims.prim_base import BasePrim
+from omnigibson.systems.system_base import REGISTERED_SYSTEMS, BaseSystem, PhysicalParticleSystem
 from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function
-from omnigibson.utils.python_utils import classproperty, assert_valid_key, subclass_factory, snake_case_to_camel_case
-from omnigibson.utils.sampling_utils import sample_cuboid_on_object_full_grid_topdown
-from omnigibson.utils.usd_utils import mesh_prim_to_trimesh_mesh, PoseAPI
 from omnigibson.utils.physx_utils import create_physx_particle_system, create_physx_particleset_pointinstancer
-from omnigibson.utils.ui_utils import disclaimer, create_module_logger
-
-from pathlib import Path
-import os
-import tempfile
-import datetime
-import trimesh
-import pymeshlab
-import numpy as np
-from collections import defaultdict
+from omnigibson.utils.python_utils import assert_valid_key, classproperty, snake_case_to_camel_case, subclass_factory
+from omnigibson.utils.sampling_utils import sample_cuboid_on_object_full_grid_topdown
+from omnigibson.utils.ui_utils import create_module_logger, disclaimer
+from omnigibson.utils.usd_utils import PoseAPI, mesh_prim_to_trimesh_mesh
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/systems/system_base.py b/omnigibson/systems/system_base.py
index a5b73dcbf4..3f40d81789 100644
--- a/omnigibson/systems/system_base.py
+++ b/omnigibson/systems/system_base.py
@@ -1,17 +1,26 @@
-import os
 import json
+import os
+
 import numpy as np
 
 import omnigibson as og
-from omnigibson.macros import gm, create_module_macros
+import omnigibson.lazy as lazy
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.utils.asset_utils import get_all_system_categories
 from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function
-from omnigibson.utils.python_utils import classproperty, assert_valid_key, get_uuid, camel_case_to_snake_case, \
-    snake_case_to_camel_case, subclass_factory, SerializableNonInstance, UniquelyNamedNonInstance
+from omnigibson.utils.python_utils import (
+    SerializableNonInstance,
+    UniquelyNamedNonInstance,
+    assert_valid_key,
+    camel_case_to_snake_case,
+    classproperty,
+    get_uuid,
+    snake_case_to_camel_case,
+    subclass_factory,
+)
 from omnigibson.utils.registry_utils import SerializableRegistry
 from omnigibson.utils.sampling_utils import sample_cuboid_on_object_full_grid_topdown
 from omnigibson.utils.ui_utils import create_module_logger
-import omnigibson.lazy as lazy
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/tasks/__init__.py b/omnigibson/tasks/__init__.py
index 2a6bfaa8f9..8773a1226f 100644
--- a/omnigibson/tasks/__init__.py
+++ b/omnigibson/tasks/__init__.py
@@ -1,5 +1,5 @@
-from omnigibson.tasks.task_base import REGISTERED_TASKS
+from omnigibson.tasks.behavior_task import BehaviorTask
 from omnigibson.tasks.dummy_task import DummyTask
 from omnigibson.tasks.point_navigation_task import PointNavigationTask
 from omnigibson.tasks.point_reaching_task import PointReachingTask
-from omnigibson.tasks.behavior_task import BehaviorTask
+from omnigibson.tasks.task_base import REGISTERED_TASKS
diff --git a/omnigibson/tasks/behavior_task.py b/omnigibson/tasks/behavior_task.py
index 083e895a46..995b10685f 100644
--- a/omnigibson/tasks/behavior_task.py
+++ b/omnigibson/tasks/behavior_task.py
@@ -1,31 +1,36 @@
-import numpy as np
 import os
+
+import numpy as np
 from bddl.activity import (
     Conditions,
     evaluate_goal_conditions,
     get_goal_conditions,
     get_ground_goal_state_options,
-    get_natural_initial_conditions,
     get_initial_conditions,
     get_natural_goal_conditions,
+    get_natural_initial_conditions,
     get_object_scope,
 )
 
 import omnigibson as og
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
 from omnigibson.object_states import Pose
 from omnigibson.reward_functions.potential_reward import PotentialReward
 from omnigibson.robots.robot_base import BaseRobot
-from omnigibson.systems.system_base import get_system, add_callback_on_system_init, add_callback_on_system_clear, \
-    REGISTERED_SYSTEMS
-from omnigibson.scenes.scene_base import Scene
 from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
-from omnigibson.utils.bddl_utils import OmniGibsonBDDLBackend, BDDLEntity, BEHAVIOR_ACTIVITIES, BDDLSampler
+from omnigibson.scenes.scene_base import Scene
+from omnigibson.systems.system_base import (
+    REGISTERED_SYSTEMS,
+    add_callback_on_system_clear,
+    add_callback_on_system_init,
+    get_system,
+)
 from omnigibson.tasks.task_base import BaseTask
 from omnigibson.termination_conditions.predicate_goal import PredicateGoal
 from omnigibson.termination_conditions.timeout import Timeout
-import omnigibson.utils.transform_utils as T
-from omnigibson.utils.python_utils import classproperty, assert_valid_key
+from omnigibson.utils.bddl_utils import BEHAVIOR_ACTIVITIES, BDDLEntity, BDDLSampler, OmniGibsonBDDLBackend
+from omnigibson.utils.python_utils import assert_valid_key, classproperty
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/tasks/dummy_task.py b/omnigibson/tasks/dummy_task.py
index 43b9482a0a..d711a32c8a 100644
--- a/omnigibson/tasks/dummy_task.py
+++ b/omnigibson/tasks/dummy_task.py
@@ -1,7 +1,7 @@
 import numpy as np
 
-from omnigibson.tasks.task_base import BaseTask
 from omnigibson.scenes.scene_base import Scene
+from omnigibson.tasks.task_base import BaseTask
 from omnigibson.utils.python_utils import classproperty
 from omnigibson.utils.sim_utils import land_object
 
diff --git a/omnigibson/tasks/point_navigation_task.py b/omnigibson/tasks/point_navigation_task.py
index b1ad9ff1d5..8e3fc52ab1 100644
--- a/omnigibson/tasks/point_navigation_task.py
+++ b/omnigibson/tasks/point_navigation_task.py
@@ -1,6 +1,7 @@
 import numpy as np
 
 import omnigibson as og
+import omnigibson.utils.transform_utils as T
 from omnigibson.object_states import Pose
 from omnigibson.objects.primitive_object import PrimitiveObject
 from omnigibson.reward_functions.collision_reward import CollisionReward
@@ -8,13 +9,12 @@
 from omnigibson.reward_functions.potential_reward import PotentialReward
 from omnigibson.scenes.traversable_scene import TraversableScene
 from omnigibson.tasks.task_base import BaseTask
-from omnigibson.termination_conditions.max_collision import MaxCollision
 from omnigibson.termination_conditions.falling import Falling
+from omnigibson.termination_conditions.max_collision import MaxCollision
 from omnigibson.termination_conditions.point_goal import PointGoal
 from omnigibson.termination_conditions.timeout import Timeout
-from omnigibson.utils.python_utils import classproperty, assert_valid_key
+from omnigibson.utils.python_utils import assert_valid_key, classproperty
 from omnigibson.utils.sim_utils import land_object, test_valid_pose
-import omnigibson.utils.transform_utils as T
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/tasks/point_reaching_task.py b/omnigibson/tasks/point_reaching_task.py
index 8c26e9940d..41f92f9bbd 100644
--- a/omnigibson/tasks/point_reaching_task.py
+++ b/omnigibson/tasks/point_reaching_task.py
@@ -1,9 +1,8 @@
 import numpy as np
 
+import omnigibson.utils.transform_utils as T
 from omnigibson.tasks.point_navigation_task import PointNavigationTask
 from omnigibson.termination_conditions.point_goal import PointGoal
-import omnigibson.utils.transform_utils as T
-
 
 # Valid point navigation reward types
 POINT_NAVIGATION_REWARD_TYPES = {"l2", "geodesic"}
diff --git a/omnigibson/tasks/task_base.py b/omnigibson/tasks/task_base.py
index 46d3eed04a..956d578384 100644
--- a/omnigibson/tasks/task_base.py
+++ b/omnigibson/tasks/task_base.py
@@ -1,9 +1,10 @@
 from abc import ABCMeta, abstractmethod
 from copy import deepcopy
+
 import numpy as np
-from omnigibson.utils.python_utils import classproperty, Registerable
-from omnigibson.utils.gym_utils import GymObservable
 
+from omnigibson.utils.gym_utils import GymObservable
+from omnigibson.utils.python_utils import Registerable, classproperty
 
 REGISTERED_TASKS = dict()
 
diff --git a/omnigibson/termination_conditions/__init__.py b/omnigibson/termination_conditions/__init__.py
index 2e5e423eb4..ae1add4ed3 100644
--- a/omnigibson/termination_conditions/__init__.py
+++ b/omnigibson/termination_conditions/__init__.py
@@ -1,8 +1,12 @@
-from omnigibson.termination_conditions.termination_condition_base import REGISTERED_TERMINATION_CONDITIONS, \
-    REGISTERED_SUCCESS_CONDITIONS, REGISTERED_FAILURE_CONDITIONS, BaseTerminationCondition
 from omnigibson.termination_conditions.falling import Falling
 from omnigibson.termination_conditions.max_collision import MaxCollision
 from omnigibson.termination_conditions.point_goal import PointGoal
 from omnigibson.termination_conditions.predicate_goal import PredicateGoal
 from omnigibson.termination_conditions.reaching_goal import ReachingGoal
+from omnigibson.termination_conditions.termination_condition_base import (
+    REGISTERED_FAILURE_CONDITIONS,
+    REGISTERED_SUCCESS_CONDITIONS,
+    REGISTERED_TERMINATION_CONDITIONS,
+    BaseTerminationCondition,
+)
 from omnigibson.termination_conditions.timeout import Timeout
diff --git a/omnigibson/termination_conditions/max_collision.py b/omnigibson/termination_conditions/max_collision.py
index 854ea25f88..501d82a2b1 100644
--- a/omnigibson/termination_conditions/max_collision.py
+++ b/omnigibson/termination_conditions/max_collision.py
@@ -1,5 +1,5 @@
-from omnigibson.termination_conditions.termination_condition_base import FailureCondition
 from omnigibson.object_states.contact_bodies import ContactBodies
+from omnigibson.termination_conditions.termination_condition_base import FailureCondition
 
 
 class MaxCollision(FailureCondition):
diff --git a/omnigibson/termination_conditions/point_goal.py b/omnigibson/termination_conditions/point_goal.py
index ec681c4e2e..bc2b9f7374 100644
--- a/omnigibson/termination_conditions/point_goal.py
+++ b/omnigibson/termination_conditions/point_goal.py
@@ -1,5 +1,5 @@
-from omnigibson.termination_conditions.termination_condition_base import SuccessCondition
 import omnigibson.utils.transform_utils as T
+from omnigibson.termination_conditions.termination_condition_base import SuccessCondition
 
 
 class PointGoal(SuccessCondition):
diff --git a/omnigibson/termination_conditions/reaching_goal.py b/omnigibson/termination_conditions/reaching_goal.py
index f7aa477cf5..2afdba5223 100644
--- a/omnigibson/termination_conditions/reaching_goal.py
+++ b/omnigibson/termination_conditions/reaching_goal.py
@@ -1,5 +1,5 @@
-from omnigibson.termination_conditions.termination_condition_base import SuccessCondition
 import omnigibson.utils.transform_utils as T
+from omnigibson.termination_conditions.termination_condition_base import SuccessCondition
 
 
 class ReachingGoal(SuccessCondition):
diff --git a/omnigibson/termination_conditions/termination_condition_base.py b/omnigibson/termination_conditions/termination_condition_base.py
index f0860fd46e..aa7e8bd129 100644
--- a/omnigibson/termination_conditions/termination_condition_base.py
+++ b/omnigibson/termination_conditions/termination_condition_base.py
@@ -1,5 +1,6 @@
 from abc import ABCMeta, abstractmethod
-from omnigibson.utils.python_utils import classproperty, Registerable
+
+from omnigibson.utils.python_utils import Registerable, classproperty
 
 REGISTERED_TERMINATION_CONDITIONS = dict()
 REGISTERED_SUCCESS_CONDITIONS = dict()
diff --git a/omnigibson/transition_rules.py b/omnigibson/transition_rules.py
index 9f223d741c..b1c9c27fca 100644
--- a/omnigibson/transition_rules.py
+++ b/omnigibson/transition_rules.py
@@ -1,30 +1,36 @@
+import itertools
+import json
 import operator
+import os
 from abc import ABCMeta, abstractmethod
-from collections import namedtuple, defaultdict
-import numpy as np
-import json
+from collections import defaultdict, namedtuple
 from copy import copy
-import itertools
-import os
-from collections import defaultdict
+
+import bddl
 import networkx as nx
+import numpy as np
 
 import omnigibson as og
-from omnigibson.macros import gm, create_module_macros
-from omnigibson.systems import get_system, is_system_active, PhysicalParticleSystem, VisualParticleSystem, REGISTERED_SYSTEMS
-from omnigibson.objects.dataset_object import DatasetObject
+import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.object_states import *
 from omnigibson.object_states.factory import get_system_states
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, RelativeObjectState
+from omnigibson.objects.dataset_object import DatasetObject
+from omnigibson.systems import (
+    REGISTERED_SYSTEMS,
+    PhysicalParticleSystem,
+    VisualParticleSystem,
+    get_system,
+    is_system_active,
+)
 from omnigibson.utils.asset_utils import get_all_object_category_models
+from omnigibson.utils.bddl_utils import translate_bddl_recipe_to_og_recipe, translate_bddl_washer_rule_to_og_washer_rule
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.python_utils import Registerable, classproperty, subclass_factory
 from omnigibson.utils.registry_utils import Registry
-import omnigibson.utils.transform_utils as T
-from omnigibson.utils.ui_utils import disclaimer, create_module_logger
+from omnigibson.utils.ui_utils import create_module_logger, disclaimer
 from omnigibson.utils.usd_utils import RigidContactAPI
-from omnigibson.utils.bddl_utils import translate_bddl_recipe_to_og_recipe, translate_bddl_washer_rule_to_og_washer_rule
-import bddl
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/utils/asset_utils.py b/omnigibson/utils/asset_utils.py
index 5082717bb2..9c4eea0e63 100644
--- a/omnigibson/utils/asset_utils.py
+++ b/omnigibson/utils/asset_utils.py
@@ -1,20 +1,23 @@
 import argparse
+import contextlib
+import inspect
 import json
 import os
 import subprocess
 import tempfile
-import contextlib
-import inspect
+from collections import defaultdict
 from copy import deepcopy
 from pathlib import Path
-from cryptography.fernet import Fernet
-from collections import defaultdict
 from urllib.request import urlretrieve
-import yaml
+
 import progressbar
+import yaml
+from cryptography.fernet import Fernet
+
 import omnigibson as og
 from omnigibson.macros import gm
 from omnigibson.utils.ui_utils import create_module_logger
+
 if os.getenv("OMNIGIBSON_NO_OMNIVERSE", default=0) != "1":
     import omnigibson.lazy as lazy
 
@@ -230,8 +233,8 @@ def get_all_object_category_models_with_abilities(category, abilities):
             to support the requested list of @abilities
     """
     # Avoid circular imports
-    from omnigibson.objects.dataset_object import DatasetObject
     from omnigibson.object_states.factory import get_requirements_for_ability, get_states_for_ability
+    from omnigibson.objects.dataset_object import DatasetObject
 
     # Get all valid models
     all_models = get_all_object_category_models(category=category)
@@ -298,8 +301,8 @@ def get_attachment_metalinks(category, model):
         list of str: all attachment metalinks for the object model
     """
     # Avoid circular imports
-    from omnigibson.objects.dataset_object import DatasetObject
     from omnigibson.object_states import AttachedTo
+    from omnigibson.objects.dataset_object import DatasetObject
 
     usd_path = DatasetObject.get_usd_path(category=category, model=model)
     usd_path = usd_path.replace(".usd", ".encrypted.usd")
diff --git a/omnigibson/utils/bddl_utils.py b/omnigibson/utils/bddl_utils.py
index 0356e3c99f..e1c0e71a87 100644
--- a/omnigibson/utils/bddl_utils.py
+++ b/omnigibson/utils/bddl_utils.py
@@ -1,32 +1,34 @@
 import json
-import bddl
 import os
 import random
-import numpy as np
-import networkx as nx
 from collections import defaultdict
-from bddl.activity import (
-    get_goal_conditions,
-    get_ground_goal_state_options,
-    get_initial_conditions,
-)
+
+import bddl
+import networkx as nx
+import numpy as np
+from bddl.activity import get_goal_conditions, get_ground_goal_state_options, get_initial_conditions
 from bddl.backend_abc import BDDLBackend
 from bddl.condition_evaluation import Negation
-from bddl.logic_base import BinaryAtomicFormula, UnaryAtomicFormula, AtomicFormula
+from bddl.logic_base import AtomicFormula, BinaryAtomicFormula, UnaryAtomicFormula
 from bddl.object_taxonomy import ObjectTaxonomy
+
 import omnigibson as og
-from omnigibson.macros import gm, create_module_macros
-from omnigibson.utils.constants import PrimType
-from omnigibson.utils.asset_utils import get_attachment_metalinks, get_all_object_categories, get_all_object_category_models_with_abilities
-from omnigibson.utils.ui_utils import create_module_logger
-from omnigibson.utils.python_utils import Wrapper
-from omnigibson.objects.dataset_object import DatasetObject
-from omnigibson.robots import BaseRobot
 from omnigibson import object_states
-from omnigibson.object_states.object_state_base import AbsoluteObjectState, RelativeObjectState
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.object_states.factory import _KINEMATIC_STATE_SET, get_system_states
-from omnigibson.systems.system_base import is_system_active, get_system
+from omnigibson.object_states.object_state_base import AbsoluteObjectState, RelativeObjectState
+from omnigibson.objects.dataset_object import DatasetObject
+from omnigibson.robots import BaseRobot
 from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
+from omnigibson.systems.system_base import get_system, is_system_active
+from omnigibson.utils.asset_utils import (
+    get_all_object_categories,
+    get_all_object_category_models_with_abilities,
+    get_attachment_metalinks,
+)
+from omnigibson.utils.constants import PrimType
+from omnigibson.utils.python_utils import Wrapper
+from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
diff --git a/omnigibson/utils/config_utils.py b/omnigibson/utils/config_utils.py
index 5980912e0c..dda1e25400 100644
--- a/omnigibson/utils/config_utils.py
+++ b/omnigibson/utils/config_utils.py
@@ -1,6 +1,7 @@
 import collections.abc
 import json
 import os
+
 import numpy as np
 import yaml
 
diff --git a/omnigibson/utils/constants.py b/omnigibson/utils/constants.py
index 90d394428a..bfa0cacab7 100644
--- a/omnigibson/utils/constants.py
+++ b/omnigibson/utils/constants.py
@@ -1,15 +1,16 @@
 """
 Constant Definitions
 """
-from functools import cache
 import hashlib
 import os
-import numpy as np
 from enum import Enum, IntEnum
+from functools import cache
+
+import numpy as np
 
 import omnigibson as og
 from omnigibson.macros import gm
-from omnigibson.utils.asset_utils import get_og_avg_category_specs, get_all_object_categories
+from omnigibson.utils.asset_utils import get_all_object_categories, get_og_avg_category_specs
 
 MAX_INSTANCE_COUNT = np.iinfo(np.uint32).max
 MAX_CLASS_COUNT = np.iinfo(np.uint32).max
diff --git a/omnigibson/utils/control_utils.py b/omnigibson/utils/control_utils.py
index d6c5c7b0dc..0549171969 100644
--- a/omnigibson/utils/control_utils.py
+++ b/omnigibson/utils/control_utils.py
@@ -1,11 +1,13 @@
 """
 Set of utilities for helping to execute robot control
 """
-import omnigibson.lazy as lazy
 import numpy as np
 from numba import jit
+
+import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
 
+
 class FKSolver:
     """
     Class for thinly wrapping Lula Forward Kinematics solver
diff --git a/omnigibson/utils/deprecated_utils.py b/omnigibson/utils/deprecated_utils.py
index 8865a00fe5..13eee2e9d3 100644
--- a/omnigibson/utils/deprecated_utils.py
+++ b/omnigibson/utils/deprecated_utils.py
@@ -1,26 +1,27 @@
 """
 A set of utility functions slated to be deprecated once Omniverse bugs are fixed
 """
+import math
+from typing import Callable, List, Optional, Tuple, Union
+
 import carb
-from typing import List, Optional, Tuple, Union, Callable
-import omni.usd as ou
-from omni.particle.system.core.scripts.core import Core as OmniCore
-from omni.particle.system.core.scripts.utils import Utils as OmniUtils
-from pxr import Sdf, UsdShade, PhysxSchema, Usd, UsdGeom, UsdPhysics
+import numpy as np
 import omni
 import omni.graph.core as ogc
-from omni.kit.primitive.mesh.command import _get_all_evaluators
-from omni.kit.primitive.mesh.command import CreateMeshPrimWithDefaultXformCommand as CMPWDXC
 import omni.timeline
-from omni.isaac.core.utils.prims import get_prim_at_path
-import numpy as np
+import omni.usd as ou
 import torch
 import warp as wp
-import math
 from omni.isaac.core.articulations import ArticulationView as _ArticulationView
 from omni.isaac.core.prims import RigidPrimView as _RigidPrimView
-from PIL import Image, ImageDraw
+from omni.isaac.core.utils.prims import get_prim_at_path
+from omni.kit.primitive.mesh.command import CreateMeshPrimWithDefaultXformCommand as CMPWDXC
+from omni.kit.primitive.mesh.command import _get_all_evaluators
+from omni.particle.system.core.scripts.core import Core as OmniCore
+from omni.particle.system.core.scripts.utils import Utils as OmniUtils
 from omni.replicator.core import random_colours
+from PIL import Image, ImageDraw
+from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade
 
 DEG2RAD = math.pi / 180.0
 
diff --git a/omnigibson/utils/geometry_utils.py b/omnigibson/utils/geometry_utils.py
index 2130efbdcc..0a2486f4ea 100644
--- a/omnigibson/utils/geometry_utils.py
+++ b/omnigibson/utils/geometry_utils.py
@@ -2,6 +2,7 @@
 A set of helper utility functions for dealing with 3D geometry
 """
 import numpy as np
+
 import omnigibson.utils.transform_utils as T
 from omnigibson.utils.usd_utils import mesh_prim_mesh_to_trimesh_mesh
 
diff --git a/omnigibson/utils/grasping_planning_utils.py b/omnigibson/utils/grasping_planning_utils.py
index 6b9bc41b92..7686ddf87e 100644
--- a/omnigibson/utils/grasping_planning_utils.py
+++ b/omnigibson/utils/grasping_planning_utils.py
@@ -1,13 +1,14 @@
-import numpy as np
-from scipy.spatial.transform import Rotation as R, Slerp
 from math import ceil
-from omnigibson.macros import create_module_macros
 
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+from scipy.spatial.transform import Slerp
+
+import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros
 from omnigibson.object_states.open_state import _get_relevant_joints
-from omnigibson.utils.constants import JointType, JointAxis
-import omnigibson.lazy as lazy
-
+from omnigibson.utils.constants import JointAxis, JointType
 
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/utils/gym_utils.py b/omnigibson/utils/gym_utils.py
index 89e91e2aa6..9d05caae69 100644
--- a/omnigibson/utils/gym_utils.py
+++ b/omnigibson/utils/gym_utils.py
@@ -1,5 +1,6 @@
-import gym
 from abc import ABCMeta, abstractmethod
+
+import gym
 import numpy as np
 
 from omnigibson.utils.ui_utils import create_module_logger
diff --git a/omnigibson/utils/motion_planning_utils.py b/omnigibson/utils/motion_planning_utils.py
index ad9131d042..59b7be791a 100644
--- a/omnigibson/utils/motion_planning_utils.py
+++ b/omnigibson/utils/motion_planning_utils.py
@@ -1,13 +1,14 @@
-import numpy as np
-from math import ceil
 import heapq
+from math import ceil
+
+import numpy as np
 
 import omnigibson as og
+import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import create_module_macros
 from omnigibson.object_states import ContactBodies
-import omnigibson.utils.transform_utils as T
 from omnigibson.utils.control_utils import IKSolver
-import omnigibson.lazy as lazy
 
 m = create_module_macros(module_path=__file__)
 m.ANGLE_DIFF = 0.3
diff --git a/omnigibson/utils/object_state_utils.py b/omnigibson/utils/object_state_utils.py
index 701cec533f..16065deb93 100644
--- a/omnigibson/utils/object_state_utils.py
+++ b/omnigibson/utils/object_state_utils.py
@@ -1,19 +1,17 @@
 import cv2
 import numpy as np
-
 from IPython import embed
-from scipy.spatial.transform import Rotation as R
 from scipy.spatial import ConvexHull, distance_matrix
+from scipy.spatial.transform import Rotation as R
 
 import omnigibson as og
-from omnigibson.macros import create_module_macros, Dict, macros
+import omnigibson.utils.transform_utils as T
+from omnigibson.macros import Dict, create_module_macros, macros
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.contact_bodies import ContactBodies
 from omnigibson.utils import sampling_utils
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.ui_utils import debug_breakpoint
-import omnigibson.utils.transform_utils as T
-
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/utils/object_utils.py b/omnigibson/utils/object_utils.py
index ad35c6bf50..a249ff13d4 100644
--- a/omnigibson/utils/object_utils.py
+++ b/omnigibson/utils/object_utils.py
@@ -1,10 +1,11 @@
 """
 Helper utility functions for computing relevant object information
 """
-import omnigibson as og
 import numpy as np
-import omnigibson.utils.transform_utils as T
 from scipy.spatial.transform import Rotation as R
+
+import omnigibson as og
+import omnigibson.utils.transform_utils as T
 from omnigibson.utils.geometry_utils import get_particle_positions_from_frame
 
 
diff --git a/omnigibson/utils/physx_utils.py b/omnigibson/utils/physx_utils.py
index 1f583cfb5c..1c9462ff25 100644
--- a/omnigibson/utils/physx_utils.py
+++ b/omnigibson/utils/physx_utils.py
@@ -1,9 +1,9 @@
 import numpy as np
 
-from omnigibson.macros import gm, create_module_macros
-from omnigibson.utils.ui_utils import suppress_omni_log
 import omnigibson as og
 import omnigibson.lazy as lazy
+from omnigibson.macros import create_module_macros, gm
+from omnigibson.utils.ui_utils import suppress_omni_log
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
diff --git a/omnigibson/utils/processing_utils.py b/omnigibson/utils/processing_utils.py
index 563ffc643b..24657224fc 100644
--- a/omnigibson/utils/processing_utils.py
+++ b/omnigibson/utils/processing_utils.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 from omnigibson.utils.python_utils import Serializable
 
 
diff --git a/omnigibson/utils/profiling_utils.py b/omnigibson/utils/profiling_utils.py
index 0de91063ee..1b28275051 100644
--- a/omnigibson/utils/profiling_utils.py
+++ b/omnigibson/utils/profiling_utils.py
@@ -1,9 +1,11 @@
-import gym
-import omnigibson as og
 import os
+from time import time
+
+import gym
 import psutil
 from pynvml.smi import nvidia_smi
-from time import time
+
+import omnigibson as og
 
 
 class ProfilingEnv(og.Environment):
diff --git a/omnigibson/utils/python_utils.py b/omnigibson/utils/python_utils.py
index 02edbd06f3..c43382de84 100644
--- a/omnigibson/utils/python_utils.py
+++ b/omnigibson/utils/python_utils.py
@@ -4,9 +4,9 @@
 import inspect
 import re
 from abc import ABCMeta
-from copy import deepcopy
 from collections.abc import Iterable
-from functools import wraps, cache
+from copy import deepcopy
+from functools import cache, wraps
 from importlib import import_module
 
 import numpy as np
diff --git a/omnigibson/utils/registry_utils.py b/omnigibson/utils/registry_utils.py
index 2a9dc154be..b0dce8edde 100644
--- a/omnigibson/utils/registry_utils.py
+++ b/omnigibson/utils/registry_utils.py
@@ -1,9 +1,11 @@
 """
 A set of utility functions for registering and tracking objects
 """
+from collections.abc import Iterable
 from inspect import isclass
+
 import numpy as np
-from collections.abc import Iterable
+
 from omnigibson.macros import create_module_macros
 from omnigibson.utils.python_utils import Serializable, SerializableNonInstance, UniquelyNamed
 from omnigibson.utils.ui_utils import create_module_logger
diff --git a/omnigibson/utils/render_utils.py b/omnigibson/utils/render_utils.py
index 0e033d474b..2cf7b4b4ad 100644
--- a/omnigibson/utils/render_utils.py
+++ b/omnigibson/utils/render_utils.py
@@ -2,11 +2,13 @@
 Set of rendering utility functions when working with Omni
 """
 import numpy as np
+
 import omnigibson as og
+import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson.prims import EntityPrim, RigidPrim, VisualGeomPrim
 from omnigibson.utils.physx_utils import bind_material
-import omnigibson.utils.transform_utils as T
-import omnigibson.lazy as lazy
+
 
 def make_glass(prim):
     """
diff --git a/omnigibson/utils/sampling_utils.py b/omnigibson/utils/sampling_utils.py
index 679dde7f29..623c7ce7e5 100644
--- a/omnigibson/utils/sampling_utils.py
+++ b/omnigibson/utils/sampling_utils.py
@@ -1,16 +1,15 @@
 import itertools
+import time
 from collections import Counter, defaultdict
 
 import numpy as np
-
-import time
 import trimesh
 from scipy.spatial.transform import Rotation as R
 from scipy.stats import truncnorm
 
 import omnigibson as og
-from omnigibson.macros import create_module_macros, gm
 import omnigibson.utils.transform_utils as T
+from omnigibson.macros import create_module_macros, gm
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/utils/sim_utils.py b/omnigibson/utils/sim_utils.py
index 356518830e..4fab432abf 100644
--- a/omnigibson/utils/sim_utils.py
+++ b/omnigibson/utils/sim_utils.py
@@ -1,12 +1,13 @@
-import numpy as np
 from collections import namedtuple
 from collections.abc import Iterable
 
+import numpy as np
+
 import omnigibson as og
+import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
 from omnigibson.utils import python_utils
-import omnigibson.utils.transform_utils as T
-import omnigibson.lazy as lazy
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py
index ffc4ecd15e..dbb58ccb9f 100644
--- a/omnigibson/utils/teleop_utils.py
+++ b/omnigibson/utils/teleop_utils.py
@@ -1,7 +1,8 @@
-import numpy as np
 import time
 from typing import Iterable, Optional, Tuple
 
+import numpy as np
+
 import omnigibson as og
 import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
@@ -10,10 +11,10 @@
 from omnigibson.robots.robot_base import BaseRobot
 
 try:
+    from telemoma.configs.base_config import teleop_config
     from telemoma.human_interface.teleop_core import TeleopAction, TeleopObservation
     from telemoma.human_interface.teleop_policy import TeleopPolicy
     from telemoma.utils.general_utils import AttrDict
-    from telemoma.configs.base_config import teleop_config
 except ImportError as e:
     raise e from ValueError("For teleoperation, install telemoma by running 'pip install telemoma'")
 
diff --git a/omnigibson/utils/ui_utils.py b/omnigibson/utils/ui_utils.py
index 2d5ef3e2b5..b01daf08ae 100644
--- a/omnigibson/utils/ui_utils.py
+++ b/omnigibson/utils/ui_utils.py
@@ -2,23 +2,24 @@
 Helper classes and functions for streamlining user interactions
 """
 import contextlib
-
+import datetime
 import logging
-import numpy as np
 import sys
-import datetime
 from pathlib import Path
+
+import imageio
+import numpy as np
+from IPython import embed
 from PIL import Image
+from scipy.integrate import quad
+from scipy.interpolate import CubicSpline
+from scipy.spatial.transform import Rotation as R
 from termcolor import colored
+
 import omnigibson as og
-from omnigibson.macros import gm
-import omnigibson.utils.transform_utils as T
 import omnigibson.lazy as lazy
-from scipy.spatial.transform import Rotation as R
-from scipy.interpolate import CubicSpline
-from scipy.integrate import quad
-import imageio
-from IPython import embed
+import omnigibson.utils.transform_utils as T
+from omnigibson.macros import gm
 
 
 def print_icon():
diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py
index db1d925465..7c461e8b3e 100644
--- a/omnigibson/utils/usd_utils.py
+++ b/omnigibson/utils/usd_utils.py
@@ -1,20 +1,18 @@
 import math
-from collections.abc import Iterable
 import os
-
-import omnigibson.lazy as lazy
+from collections.abc import Iterable
 
 import numpy as np
 import trimesh
 
 import omnigibson as og
+import omnigibson.lazy as lazy
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
-from omnigibson.utils.constants import JointType, PRIMITIVE_MESH_TYPES, PrimType
+from omnigibson.utils.constants import PRIMITIVE_MESH_TYPES, JointType, PrimType
 from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.ui_utils import suppress_omni_log
 
-import omnigibson.utils.transform_utils as T
-
 
 def array_to_vtarray(arr, element_type):
     """
diff --git a/scripts/download_datasets.py b/scripts/download_datasets.py
index 30700c78ba..4d3ac2af49 100644
--- a/scripts/download_datasets.py
+++ b/scripts/download_datasets.py
@@ -2,12 +2,14 @@
 Helper script to download OmniGibson dataset and assets.
 """
 import os
+
 os.environ["OMNIGIBSON_NO_OMNIVERSE"] = "1"
 
-from omnigibson.macros import gm
-from omnigibson.utils.asset_utils import download_og_dataset, download_assets
 import click
 
+from omnigibson.macros import gm
+from omnigibson.utils.asset_utils import download_assets, download_og_dataset
+
 
 def main():
     # Only execute if the dataset path or asset path does not exist
diff --git a/tests/benchmark/benchmark_interactive_scene.py b/tests/benchmark/benchmark_interactive_scene.py
index 446ca126d0..9171223526 100644
--- a/tests/benchmark/benchmark_interactive_scene.py
+++ b/tests/benchmark/benchmark_interactive_scene.py
@@ -2,18 +2,19 @@
 
 import os
 import time
+
 import matplotlib.pyplot as plt
 import numpy as np
 
 import omnigibson as og
-from omnigibson.objects import DatasetObject
 from omnigibson.macros import gm
+from omnigibson.objects import DatasetObject
 from omnigibson.robots.turtlebot import Turtlebot
 from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
 from omnigibson.simulator import launch_simulator
+from omnigibson.systems import get_system
 from omnigibson.utils.asset_utils import get_og_assets_version
 from omnigibson.utils.constants import PrimType
-from omnigibson.systems import get_system
 
 # Params to be set as needed.
 SCENES = ["Rs_int"] # house_single_floor
diff --git a/tests/benchmark/benchmark_object_count.py b/tests/benchmark/benchmark_object_count.py
index 319a78b21b..9e8c92da90 100644
--- a/tests/benchmark/benchmark_object_count.py
+++ b/tests/benchmark/benchmark_object_count.py
@@ -13,7 +13,6 @@
 from omnigibson.scenes.scene_base import Scene
 from omnigibson.utils.asset_utils import get_og_assets_version
 
-
 # Params to be set as needed.
 MAX_NUM_OBJS = 400      # Maximum no. of objects to add.
 NUM_OBJS_PER_ITER = 20   # No. of objects to add per iteration.
diff --git a/tests/benchmark/profiling.py b/tests/benchmark/profiling.py
index 6720cf693a..1b8d2b35b7 100644
--- a/tests/benchmark/profiling.py
+++ b/tests/benchmark/profiling.py
@@ -1,16 +1,17 @@
-import os
 import argparse
 import json
-import omnigibson as og
-import numpy as np
-import omnigibson.utils.transform_utils as T
+import os
 import time
 
+import numpy as np
+
+import omnigibson as og
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
-from omnigibson.systems import get_system
 from omnigibson.object_states import Covered
-from omnigibson.utils.profiling_utils import ProfilingEnv
+from omnigibson.systems import get_system
 from omnigibson.utils.constants import PrimType
+from omnigibson.utils.profiling_utils import ProfilingEnv
 
 parser = argparse.ArgumentParser()
 
diff --git a/tests/conftest.py b/tests/conftest.py
index 5b700bb3e3..c9162fe65d 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -1,4 +1,5 @@
 import omnigibson as og
 
+
 def pytest_unconfigure(config):
     og.shutdown()
diff --git a/tests/test_dump_load_states.py b/tests/test_dump_load_states.py
index 7a2715fccc..ea6cc3bf56 100644
--- a/tests/test_dump_load_states.py
+++ b/tests/test_dump_load_states.py
@@ -1,10 +1,10 @@
+import pytest
+from utils import SYSTEM_EXAMPLES, og_test
+
 import omnigibson as og
-from omnigibson.systems import *
 from omnigibson.object_states import Covered
+from omnigibson.systems import *
 
-from utils import og_test, SYSTEM_EXAMPLES
-
-import pytest
 
 @og_test
 def test_dump_load():
diff --git a/tests/test_object_removal.py b/tests/test_object_removal.py
index c15c6ed58a..f08eacf526 100644
--- a/tests/test_object_removal.py
+++ b/tests/test_object_removal.py
@@ -1,10 +1,9 @@
-from omnigibson.objects import DatasetObject
-import omnigibson as og
-from omnigibson.utils.python_utils import NAMES
-
+import pytest
 from utils import og_test
 
-import pytest
+import omnigibson as og
+from omnigibson.objects import DatasetObject
+from omnigibson.utils.python_utils import NAMES
 
 
 @og_test
diff --git a/tests/test_object_states.py b/tests/test_object_states.py
index 4adb2a99a6..3ad181d6e8 100644
--- a/tests/test_object_states.py
+++ b/tests/test_object_states.py
@@ -1,15 +1,14 @@
+import numpy as np
+import pytest
+from utils import SYSTEM_EXAMPLES, get_random_pose, og_test, place_obj_on_floor_plane, place_objA_on_objB_bbox
+
+import omnigibson as og
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import macros as m
 from omnigibson.object_states import *
-from omnigibson.systems import get_system, is_physical_particle_system, is_visual_particle_system, VisualParticleSystem
+from omnigibson.systems import VisualParticleSystem, get_system, is_physical_particle_system, is_visual_particle_system
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.physx_utils import apply_force_at_pos, apply_torque
-import omnigibson.utils.transform_utils as T
-import omnigibson as og
-
-from utils import og_test, get_random_pose, place_objA_on_objB_bbox, place_obj_on_floor_plane, SYSTEM_EXAMPLES
-
-import pytest
-import numpy as np
 
 
 @og_test
diff --git a/tests/test_primitives.py b/tests/test_primitives.py
index a8eddc064f..c25170b376 100644
--- a/tests/test_primitives.py
+++ b/tests/test_primitives.py
@@ -1,11 +1,16 @@
 import numpy as np
 import pytest
+
 import omnigibson as og
-from omnigibson.macros import gm
-from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives, StarterSemanticActionPrimitiveSet
 import omnigibson.utils.transform_utils as T
+from omnigibson.action_primitives.starter_semantic_action_primitives import (
+    StarterSemanticActionPrimitives,
+    StarterSemanticActionPrimitiveSet,
+)
+from omnigibson.macros import gm
 from omnigibson.objects.dataset_object import DatasetObject
 
+
 def execute_controller(ctrl_gen, env):
     for action in ctrl_gen:
         env.step(action)
diff --git a/tests/test_robot_states.py b/tests/test_robot_states.py
index fe812f92e4..14bcae57a9 100644
--- a/tests/test_robot_states.py
+++ b/tests/test_robot_states.py
@@ -1,14 +1,14 @@
 import numpy as np
 
 import omnigibson as og
-from omnigibson.macros import gm
-
 import omnigibson.lazy as lazy
-from omnigibson.sensors import VisionSensor
+from omnigibson.macros import gm
 from omnigibson.object_states import ObjectsInFOVOfRobot
-from omnigibson.utils.transform_utils import pose2mat, mat2pose, relative_pose_transform
-from omnigibson.utils.usd_utils import PoseAPI
+from omnigibson.sensors import VisionSensor
 from omnigibson.utils.constants import semantic_class_name_to_id
+from omnigibson.utils.transform_utils import mat2pose, pose2mat, relative_pose_transform
+from omnigibson.utils.usd_utils import PoseAPI
+
 
 def setup_environment(flatcache=True):
     """
diff --git a/tests/test_robot_teleoperation.py b/tests/test_robot_teleoperation.py
index 10830b4f33..e081c30f96 100644
--- a/tests/test_robot_teleoperation.py
+++ b/tests/test_robot_teleoperation.py
@@ -1,9 +1,11 @@
-import omnigibson as og
 import numpy as np
-from omnigibson.macros import gm
+import pytest
 from telemoma.human_interface.teleop_core import TeleopAction
+
+import omnigibson as og
+from omnigibson.macros import gm
 from omnigibson.utils.transform_utils import quat2euler
-import pytest
+
 
 @pytest.mark.skip(reason="test hangs on CI")
 def test_teleop():
diff --git a/tests/test_sensors.py b/tests/test_sensors.py
index 40937a82fd..4675d71a79 100644
--- a/tests/test_sensors.py
+++ b/tests/test_sensors.py
@@ -1,12 +1,12 @@
-from omnigibson.systems import get_system, is_physical_particle_system, is_visual_particle_system
-import omnigibson.utils.transform_utils as T
+import numpy as np
+import pytest
+from utils import SYSTEM_EXAMPLES, og_test, place_obj_on_floor_plane
+
 import omnigibson as og
+import omnigibson.utils.transform_utils as T
 from omnigibson.sensors import VisionSensor
+from omnigibson.systems import get_system, is_physical_particle_system, is_visual_particle_system
 
-from utils import og_test, place_obj_on_floor_plane, SYSTEM_EXAMPLES
-
-import pytest
-import numpy as np
 
 @og_test
 def test_seg():
diff --git a/tests/test_symbolic_primitives.py b/tests/test_symbolic_primitives.py
index 1659ff382c..983d6bf45a 100644
--- a/tests/test_symbolic_primitives.py
+++ b/tests/test_symbolic_primitives.py
@@ -1,14 +1,19 @@
 import os
+
 import pytest
 import yaml
 
 from omnigibson.macros import gm
+
 gm.USE_GPU_DYNAMICS = True
 gm.USE_FLATCACHE = True
 
 import omnigibson as og
 from omnigibson import object_states
-from omnigibson.action_primitives.symbolic_semantic_action_primitives import SymbolicSemanticActionPrimitiveSet, SymbolicSemanticActionPrimitives
+from omnigibson.action_primitives.symbolic_semantic_action_primitives import (
+    SymbolicSemanticActionPrimitives,
+    SymbolicSemanticActionPrimitiveSet,
+)
 from omnigibson.systems import get_system
 
 
diff --git a/tests/test_systems.py b/tests/test_systems.py
index d893eda62d..a65ad9ddd6 100644
--- a/tests/test_systems.py
+++ b/tests/test_systems.py
@@ -1,10 +1,10 @@
+import pytest
+from utils import SYSTEM_EXAMPLES, og_test
+
 import omnigibson as og
-from omnigibson.systems import *
 from omnigibson.object_states import Covered
+from omnigibson.systems import *
 
-from utils import og_test, SYSTEM_EXAMPLES
-
-import pytest
 
 @og_test
 def test_system_clear():
diff --git a/tests/test_transition_rules.py b/tests/test_transition_rules.py
index 2e33b3ff1d..4394d1a7f2 100644
--- a/tests/test_transition_rules.py
+++ b/tests/test_transition_rules.py
@@ -1,19 +1,25 @@
+import numpy as np
+import pytest
+from scipy.spatial.transform import Rotation as R
+from utils import (
+    get_random_pose,
+    og_test,
+    place_obj_on_floor_plane,
+    place_objA_on_objB_bbox,
+    remove_all_systems,
+    retrieve_obj_cfg,
+)
+
+import omnigibson as og
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import macros as m
 from omnigibson.object_states import *
+from omnigibson.objects import DatasetObject
 from omnigibson.systems import get_system, is_physical_particle_system, is_visual_particle_system
+from omnigibson.transition_rules import REGISTERED_RULES
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.physx_utils import apply_force_at_pos, apply_torque
-import omnigibson.utils.transform_utils as T
-from omnigibson.objects import DatasetObject
-from omnigibson.transition_rules import REGISTERED_RULES
-import omnigibson as og
-from omnigibson.macros import macros as m
-from scipy.spatial.transform import Rotation as R
-
-from utils import og_test, get_random_pose, place_objA_on_objB_bbox, place_obj_on_floor_plane, retrieve_obj_cfg, remove_all_systems
 
-import pytest
-import numpy as np
 
 @pytest.mark.skip(reason="dryer is not fillable yet.")
 @og_test
diff --git a/tests/utils.py b/tests/utils.py
index 5d469ce748..2d6f61cb37 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -1,12 +1,11 @@
-import omnigibson as og
+import numpy as np
 
+import omnigibson as og
+import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
 from omnigibson.object_states import *
-from omnigibson.utils.constants import PrimType, ParticleModifyCondition, ParticleModifyMethod
 from omnigibson.systems import *
-import omnigibson.utils.transform_utils as T
-import numpy as np
-
+from omnigibson.utils.constants import ParticleModifyCondition, ParticleModifyMethod, PrimType
 
 TEMP_RELATED_ABILITIES = {"cookable": {}, "freezable": {}, "burnable": {}, "heatable": {}}