diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d19d93fb6..a4f472c5e 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,14 +1,12 @@
 repos:
-  - repo: https://github.com/psf/black-pre-commit-mirror
-    rev: 24.3.0
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    # Ruff version.
+    rev: v0.8.4
     hooks:
-      - id: black
-        language_version: python3.10
-  - repo: https://github.com/pycqa/isort
-    rev: 5.13.2
-    hooks:
-      - id: isort
-        name: isort (python)
+      # Run the linter.
+      - id: ruff
+      # Run the formatter.
+      - id: ruff-format
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.4.0
     hooks:
diff --git a/omnigibson/__init__.py b/omnigibson/__init__.py
index edf20ac27..62f0273d9 100644
--- a/omnigibson/__init__.py
+++ b/omnigibson/__init__.py
@@ -5,6 +5,8 @@
 import signal
 import tempfile
 
+import nest_asyncio
+
 from omnigibson.controllers import REGISTERED_CONTROLLERS
 from omnigibson.envs import Environment, VectorEnvironment
 from omnigibson.macros import gm
@@ -24,8 +26,6 @@
 )  # We set this in the kernel.json file
 
 # Always enable nest_asyncio because MaterialPrim calls asyncio.run()
-import nest_asyncio
-
 nest_asyncio.apply()
 
 __version__ = "1.1.1"
@@ -33,6 +33,7 @@
 root_path = os.path.dirname(os.path.realpath(__file__))
 
 # Store paths to example configs
+# TODO: Move this elsewhere.
 example_config_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), "configs")
 
 # Initialize global variables
@@ -142,3 +143,24 @@ def shutdown_handler(*args, **kwargs):
 
 # Something somewhere disables the default SIGINT handler, so we need to re-enable it
 signal.signal(signal.SIGINT, shutdown_handler)
+
+__all__ = [
+    "ALL_SENSOR_MODALITIES",
+    "app",
+    "cleanup",
+    "clear",
+    "Environment",
+    "example_config_path",
+    "gm",
+    "launch",
+    "log",
+    "REGISTERED_CONTROLLERS",
+    "REGISTERED_OBJECTS",
+    "REGISTERED_ROBOTS",
+    "REGISTERED_SCENES",
+    "REGISTERED_TASKS",
+    "shutdown",
+    "sim",
+    "tempdir",
+    "VectorEnvironment",
+]
diff --git a/omnigibson/action_primitives/curobo.py b/omnigibson/action_primitives/curobo.py
index 3450c98a4..ac24ad718 100644
--- a/omnigibson/action_primitives/curobo.py
+++ b/omnigibson/action_primitives/curobo.py
@@ -1,5 +1,4 @@
 import math
-import os
 from collections.abc import Iterable
 from enum import Enum
 
@@ -11,10 +10,8 @@
 from omnigibson.macros import create_module_macros
 from omnigibson.object_states.factory import METALINK_PREFIXES
 from omnigibson.prims.rigid_prim import RigidPrim
-from omnigibson.robots.articulated_trunk_robot import ArticulatedTrunkRobot
 from omnigibson.robots.holonomic_base_robot import HolonomicBaseRobot
-from omnigibson.utils.constants import GROUND_CATEGORIES, JointType
-from omnigibson.utils.control_utils import FKSolver
+from omnigibson.utils.constants import JointType
 
 # Gives 1 - 5% better speedup, according to https://github.com/NVlabs/curobo/discussions/245#discussioncomment-9265692
 th.backends.cudnn.benchmark = True
diff --git a/omnigibson/action_primitives/starter_semantic_action_primitives.py b/omnigibson/action_primitives/starter_semantic_action_primitives.py
index 2f11fc5b8..682254898 100644
--- a/omnigibson/action_primitives/starter_semantic_action_primitives.py
+++ b/omnigibson/action_primitives/starter_semantic_action_primitives.py
@@ -7,10 +7,8 @@
 """
 
 import inspect
-import logging
 import math
 import random
-from functools import cached_property
 
 import cv2
 import gymnasium as gym
@@ -28,11 +26,9 @@
     BaseActionPrimitiveSet,
 )
 from omnigibson.controllers import DifferentialDriveController, InverseKinematicsController, JointController
-from omnigibson.controllers.controller_base import ControlType
 from omnigibson.macros import create_module_macros
 from omnigibson.objects.object_base import BaseObject
-from omnigibson.objects.usd_object import USDObject
-from omnigibson.robots import *
+from omnigibson.robots import R1, BaseRobot, BehaviorRobot, Fetch, Freight, Husky, Locobot, Stretch, Tiago, Turtlebot
 from omnigibson.robots.locomotion_robot import LocomotionRobot
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 from omnigibson.tasks.behavior_task import BehaviorTask
@@ -313,11 +309,9 @@ def __init__(
                 self.robot.controllers["base"], (JointController, DifferentialDriveController)
             ), "StarterSemanticActionPrimitives only works with a JointController or DifferentialDriveController at the robot base."
             if self._base_controller_is_joint:
-                assert not self.robot.controllers[
-                    "base"
-                ].use_delta_commands, (
-                    "StarterSemanticActionPrimitives only works with a base JointController with absolute mode."
-                )
+                assert (
+                    not self.robot.controllers["base"].use_delta_commands
+                ), "StarterSemanticActionPrimitives only works with a base JointController with absolute mode."
 
         self.robot_model = self.robot.model_name
         self.add_context = add_context
@@ -342,7 +336,6 @@ def __init__(
                     quat_relative_axis_angle = T.quat2axisangle(quat_relative)
                     self._arm_targets[arm] = (pos_relative, quat_relative_axis_angle)
                 else:
-
                     arm_target = cb.to_torch(control_dict["joint_position"])[arm_ctrl.dof_idx]
                     self._arm_targets[arm] = arm_target
 
@@ -1171,7 +1164,6 @@ def _move_hand_direct_ik(
         target_pos = target_pose[0]
         target_orn = target_pose[1]
         target_orn_axisangle = T.quat2axisangle(target_pose[1])
-        control_idx = self.robot.controller_action_idx["arm_" + self.arm]
         prev_pos = prev_orn = None
 
         # All we need to do here is save the target IK position so that empty action takes us towards it
@@ -1200,7 +1192,7 @@ def _move_hand_direct_ik(
                 pos_diff = th.norm(prev_pos - current_pos)
                 orn_diff = T.get_orientation_diff_in_radian(current_orn, prev_orn)
                 if pos_diff < 0.0003 and orn_diff < 0.01:
-                    raise ActionPrimitiveError(ActionPrimitiveError.Reason.EXECUTION_ERROR, f"Hand is stuck")
+                    raise ActionPrimitiveError(ActionPrimitiveError.Reason.EXECUTION_ERROR, "Hand is stuck")
 
             prev_pos = current_pos
             prev_orn = current_orn
diff --git a/omnigibson/action_primitives/symbolic_semantic_action_primitives.py b/omnigibson/action_primitives/symbolic_semantic_action_primitives.py
index a30b95420..04c0ae6c9 100644
--- a/omnigibson/action_primitives/symbolic_semantic_action_primitives.py
+++ b/omnigibson/action_primitives/symbolic_semantic_action_primitives.py
@@ -12,7 +12,7 @@
 from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives
 from omnigibson.objects import DatasetObject
 from omnigibson.robots.robot_base import BaseRobot
-from omnigibson.transition_rules import REGISTERED_RULES, SlicingRule, TransitionRuleAPI
+from omnigibson.transition_rules import SlicingRule
 
 
 class SymbolicSemanticActionPrimitiveSet(IntEnum):
diff --git a/omnigibson/controllers/__init__.py b/omnigibson/controllers/__init__.py
index a56c7c54b..0ba8fb006 100644
--- a/omnigibson/controllers/__init__.py
+++ b/omnigibson/controllers/__init__.py
@@ -32,3 +32,22 @@ def create_controller(name, **kwargs):
     controller_cls = REGISTERED_CONTROLLERS[name]
 
     return controller_cls(**kwargs)
+
+
+__all__ = [
+    "ControlType",
+    "create_controller",
+    "DifferentialDriveController",
+    "GripperController",
+    "InverseKinematicsController",
+    "IsGraspingState",
+    "JointController",
+    "LocomotionController",
+    "ManipulationController",
+    "MultiFingerGripperController",
+    "NullJointController",
+    "OperationalSpaceController",
+    "REGISTERED_CONTROLLERS",
+    "REGISTERED_LOCOMOTION_CONTROLLERS",
+    "REGISTERED_MANIPULATION_CONTROLLERS",
+]
diff --git a/omnigibson/controllers/controller_base.py b/omnigibson/controllers/controller_base.py
index 60e5e7adc..92538a45c 100644
--- a/omnigibson/controllers/controller_base.py
+++ b/omnigibson/controllers/controller_base.py
@@ -129,12 +129,12 @@ def __init__(
         # Standardize command input / output limits to be (min_array, max_array)
         command_input_limits = (
             self._generate_default_command_input_limits()
-            if type(command_input_limits) == str and command_input_limits == "default"
+            if type(command_input_limits) is str and command_input_limits == "default"
             else command_input_limits
         )
         command_output_limits = (
             self._generate_default_command_output_limits()
-            if type(command_output_limits) == str and command_output_limits == "default"
+            if type(command_output_limits) is str and command_output_limits == "default"
             else command_output_limits
         )
         self._command_input_limits = (
@@ -451,7 +451,9 @@ def nums2array(nums, dim):
         return (
             nums
             if isinstance(nums, cb.arr_type)
-            else cb.array(nums) if isinstance(nums, Iterable) else cb.ones(dim) * nums
+            else cb.array(nums)
+            if isinstance(nums, Iterable)
+            else cb.ones(dim) * nums
         )
 
     @property
diff --git a/omnigibson/controllers/dd_controller.py b/omnigibson/controllers/dd_controller.py
index c4f15a246..dbd1aae9e 100644
--- a/omnigibson/controllers/dd_controller.py
+++ b/omnigibson/controllers/dd_controller.py
@@ -53,7 +53,7 @@ def __init__(
         self._wheel_axle_halflength = wheel_axle_length / 2.0
 
         # If we're using default command output limits, map this to maximum linear / angular velocities
-        if type(command_output_limits) == str and command_output_limits == "default":
+        if type(command_output_limits) is str and command_output_limits == "default":
             min_vels = control_limits["velocity"][0][dof_idx]
             assert (
                 min_vels[0] == min_vels[1]
diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py
index 5a2b73b21..0a6e9e06b 100644
--- a/omnigibson/controllers/ik_controller.py
+++ b/omnigibson/controllers/ik_controller.py
@@ -1,6 +1,12 @@
 import math
 from collections.abc import Iterable
 
+import numpy as np
+import torch as th
+from numba import jit
+
+import omnigibson.utils.transform_utils as TT
+import omnigibson.utils.transform_utils_np as NT
 from omnigibson.controllers import ControlType, ManipulationController
 from omnigibson.controllers.joint_controller import JointController
 from omnigibson.utils.backend_utils import _compute_backend as cb
@@ -142,7 +148,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D
         # The output orientation limits are also set to be values assuming delta commands, so those are updated too
         if self.mode == "pose_absolute_ori":
             if command_input_limits is not None:
-                if type(command_input_limits) == str and command_input_limits == "default":
+                if type(command_input_limits) is str and command_input_limits == "default":
                     command_input_limits = [
                         cb.array([-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi]),
                         cb.array([1.0, 1.0, 1.0, math.pi, math.pi, math.pi]),
@@ -156,7 +162,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D
                         cb.array(command_output_limits[0]),
                         cb.array(command_output_limits[1]),
                     ]
-                if type(command_output_limits) == str and command_output_limits == "default":
+                if type(command_output_limits) is str and command_output_limits == "default":
                     command_output_limits = [
                         cb.array([-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi]),
                         cb.array([1.0, 1.0, 1.0, math.pi, math.pi, math.pi]),
@@ -371,11 +377,6 @@ def command_dim(self):
         return IK_MODE_COMMAND_DIMS[self.mode]
 
 
-import torch as th
-
-import omnigibson.utils.transform_utils as TT
-
-
 @th.jit.script
 def _compute_ik_qpos_torch(
     q: th.Tensor,
@@ -405,12 +406,6 @@ def _compute_ik_qpos_torch(
     )
 
 
-import numpy as np
-from numba import jit
-
-import omnigibson.utils.transform_utils_np as NT
-
-
 # Use numba since faster
 @jit(nopython=True)
 def _compute_ik_qpos_numpy(
diff --git a/omnigibson/controllers/joint_controller.py b/omnigibson/controllers/joint_controller.py
index 9dcb7ea33..0797157bc 100644
--- a/omnigibson/controllers/joint_controller.py
+++ b/omnigibson/controllers/joint_controller.py
@@ -1,5 +1,9 @@
 import math
 
+import numpy as np
+import torch as th
+from numba import jit
+
 from omnigibson.controllers import (
     ControlType,
     GripperController,
@@ -127,7 +131,7 @@ def __init__(
         # When in delta mode, it doesn't make sense to infer output range using the joint limits (since that's an
         # absolute range and our values are relative). So reject the default mode option in that case.
         assert not (
-            self._use_delta_commands and type(command_output_limits) == str and command_output_limits == "default"
+            self._use_delta_commands and type(command_output_limits) is str and command_output_limits == "default"
         ), "Cannot use 'default' command output limits in delta commands mode of JointController. Try None instead."
 
         # Run super init
@@ -210,7 +214,7 @@ def compute_control(self, goal_dict, control_dict):
             if self._motor_type == "position":
                 # Run impedance controller -- effort = pos_err * kp + vel_err * kd
                 position_error = target - base_value
-                vel_pos_error = -control_dict[f"joint_velocity"][self.dof_idx]
+                vel_pos_error = -control_dict["joint_velocity"][self.dof_idx]
                 u = position_error * self.pos_kp + vel_pos_error * self.pos_kd
             elif self._motor_type == "velocity":
                 # Compute command torques via PI velocity controller plus gravity compensation torques
@@ -252,10 +256,10 @@ def _compute_no_op_action(self, control_dict):
             if self._use_delta_commands:
                 return cb.zeros(self.command_dim)
             else:
-                return control_dict[f"joint_position"][self.dof_idx]
+                return control_dict["joint_position"][self.dof_idx]
         elif self.motor_type == "velocity":
             if self._use_delta_commands:
-                return -control_dict[f"joint_velocity"][self.dof_idx]
+                return -control_dict["joint_velocity"][self.dof_idx]
             else:
                 return cb.zeros(self.command_dim)
 
@@ -293,9 +297,6 @@ def command_dim(self):
         return len(self.dof_idx)
 
 
-import torch as th
-
-
 @th.compile
 def _compute_joint_torques_torch(
     u: th.Tensor,
@@ -306,10 +307,6 @@ def _compute_joint_torques_torch(
     return mm[dof_idxs_mat] @ u
 
 
-import numpy as np
-from numba import jit
-
-
 # Use numba since faster
 @jit(nopython=True)
 def numba_ix(arr, rows, cols):
diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py
index 1774e3c69..bf8e10010 100644
--- a/omnigibson/controllers/multi_finger_gripper_controller.py
+++ b/omnigibson/controllers/multi_finger_gripper_controller.py
@@ -304,7 +304,7 @@ def _compute_no_op_action(self, control_dict):
             return cb.array([command_val])
 
         if self._motor_type == "position":
-            command = control_dict[f"joint_position"][self.dof_idx]
+            command = control_dict["joint_position"][self.dof_idx]
         elif self._motor_type == "velocity":
             command = cb.zeros(self.command_dim)
         else:
diff --git a/omnigibson/controllers/osc_controller.py b/omnigibson/controllers/osc_controller.py
index d7165f931..1f41557d7 100644
--- a/omnigibson/controllers/osc_controller.py
+++ b/omnigibson/controllers/osc_controller.py
@@ -1,9 +1,14 @@
 import math
 
+import numpy as np
+import torch as th
+from numba import jit
+
+import omnigibson.utils.transform_utils as TT
+import omnigibson.utils.transform_utils_np as NT
 from omnigibson.controllers import ControlType, ManipulationController
 from omnigibson.utils.backend_utils import _compute_backend as cb
 from omnigibson.utils.backend_utils import add_compute_function
-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
 
@@ -176,7 +181,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D
         self.mode = mode
         if self.mode == "pose_absolute_ori":
             if command_input_limits is not None:
-                if type(command_input_limits) == str and command_input_limits == "default":
+                if type(command_input_limits) is str and command_input_limits == "default":
                     command_input_limits = [
                         [-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi],
                         [1.0, 1.0, 1.0, math.pi, math.pi, math.pi],
@@ -185,7 +190,7 @@ def limiter(target_pos: Array[float], target_quat: Array[float], control_dict: D
                     command_input_limits[0][3:] = -math.pi
                     command_input_limits[1][3:] = math.pi
             if command_output_limits is not None:
-                if type(command_output_limits) == str and command_output_limits == "default":
+                if type(command_output_limits) is str and command_output_limits == "default":
                     command_output_limits = [
                         [-1.0, -1.0, -1.0, -math.pi, -math.pi, -math.pi],
                         [1.0, 1.0, 1.0, math.pi, math.pi, math.pi],
@@ -489,11 +494,6 @@ def command_dim(self):
         return self._command_dim
 
 
-import torch as th
-
-import omnigibson.utils.transform_utils as TT
-
-
 @th.jit.script
 def _compute_osc_torques_torch(
     q: th.Tensor,
@@ -569,12 +569,6 @@ def _compute_osc_torques_torch(
     return u
 
 
-import numpy as np
-from numba import jit
-
-import omnigibson.utils.transform_utils_np as NT
-
-
 # Use numba since faster
 @jit(nopython=True)
 def _compute_osc_torques_numpy(
diff --git a/omnigibson/download_datasets.py b/omnigibson/download_datasets.py
index f850e50e7..871b32f40 100644
--- a/omnigibson/download_datasets.py
+++ b/omnigibson/download_datasets.py
@@ -17,11 +17,11 @@ def main():
     dataset_exists, assets_exist = os.path.exists(gm.DATASET_PATH), os.path.exists(gm.ASSET_PATH)
     if not (dataset_exists and assets_exist):
         # Ask user which dataset to install
-        print(f"OmniGibson will now install data under the following locations:")
+        print("OmniGibson will now install data under the following locations:")
         print(f"    dataset (~25GB): {gm.DATASET_PATH}")
         print(f"    assets (~2.5GB): {gm.ASSET_PATH}")
         print(
-            f"If you want to install data under a different path, please change the DATA_PATH variable in omnigibson/macros.py and rerun omnigibson/download_datasets.py."
+            "If you want to install data under a different path, please change the DATA_PATH variable in omnigibson/macros.py and rerun omnigibson/download_datasets.py."
         )
         if click.confirm("Do you want to continue?", default=True):
             # Only download if the dataset path doesn't exist
diff --git a/omnigibson/envs/__init__.py b/omnigibson/envs/__init__.py
index 7cce73898..0f645edfe 100644
--- a/omnigibson/envs/__init__.py
+++ b/omnigibson/envs/__init__.py
@@ -2,3 +2,13 @@
 from omnigibson.envs.env_base import Environment
 from omnigibson.envs.env_wrapper import REGISTERED_ENV_WRAPPERS, EnvironmentWrapper, create_wrapper
 from omnigibson.envs.vec_env_base import VectorEnvironment
+
+__all__ = [
+    "create_wrapper",
+    "DataCollectionWrapper",
+    "DataPlaybackWrapper",
+    "Environment",
+    "EnvironmentWrapper",
+    "REGISTERED_ENV_WRAPPERS",
+    "VectorEnvironment",
+]
diff --git a/omnigibson/envs/data_wrapper.py b/omnigibson/envs/data_wrapper.py
index 8e3e19557..30326a463 100644
--- a/omnigibson/envs/data_wrapper.py
+++ b/omnigibson/envs/data_wrapper.py
@@ -196,7 +196,7 @@ def flush_current_traj(self):
         success = self.env.task.success or not self.only_successes
         if success and self.hdf5_file is not None:
             traj_grp_name = f"demo_{self.traj_count}"
-            traj_grp = self.process_traj_to_hdf5(self.current_traj_history, traj_grp_name, nested_keys=["obs"])
+            self.process_traj_to_hdf5(self.current_traj_history, traj_grp_name, nested_keys=["obs"])
             self.traj_count += 1
         else:
             # Remove this demo
@@ -232,7 +232,6 @@ def save_data(self):
             self.flush_current_traj()
 
         if self.hdf5_file is not None:
-
             log.info(
                 f"\nSaved:\n"
                 f"{self.traj_count} trajectories / {self.step_count} total steps\n"
diff --git a/omnigibson/envs/vec_env_base.py b/omnigibson/envs/vec_env_base.py
index 00f1bb6e3..0ed2c6bfb 100644
--- a/omnigibson/envs/vec_env_base.py
+++ b/omnigibson/envs/vec_env_base.py
@@ -1,5 +1,4 @@
 import copy
-import time
 
 from tqdm import trange
 
diff --git a/omnigibson/examples/action_primitives/rs_int_example.py b/omnigibson/examples/action_primitives/rs_int_example.py
index fbecc2595..6314625a3 100644
--- a/omnigibson/examples/action_primitives/rs_int_example.py
+++ b/omnigibson/examples/action_primitives/rs_int_example.py
@@ -7,7 +7,6 @@
     StarterSemanticActionPrimitives,
     StarterSemanticActionPrimitiveSet,
 )
-from omnigibson.macros import gm
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True
@@ -46,7 +45,6 @@ def main():
     # Load the environment
     env = og.Environment(configs=config)
     scene = env.scene
-    robot = env.robots[0]
 
     # Allow user to move camera more easily
     og.sim.enable_viewer_camera_teleoperation()
diff --git a/omnigibson/examples/action_primitives/solve_simple_task.py b/omnigibson/examples/action_primitives/solve_simple_task.py
index 168e3d239..c6328fa5f 100644
--- a/omnigibson/examples/action_primitives/solve_simple_task.py
+++ b/omnigibson/examples/action_primitives/solve_simple_task.py
@@ -7,7 +7,6 @@
     StarterSemanticActionPrimitives,
     StarterSemanticActionPrimitiveSet,
 )
-from omnigibson.macros import gm
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True
@@ -55,7 +54,6 @@ def main():
     # Load the environment
     env = og.Environment(configs=config)
     scene = env.scene
-    robot = env.robots[0]
 
     # Allow user to move camera more easily
     og.sim.enable_viewer_camera_teleoperation()
diff --git a/omnigibson/examples/action_primitives/wip_solve_behavior_task.py b/omnigibson/examples/action_primitives/wip_solve_behavior_task.py
index 3036fc42e..04ea0c79c 100644
--- a/omnigibson/examples/action_primitives/wip_solve_behavior_task.py
+++ b/omnigibson/examples/action_primitives/wip_solve_behavior_task.py
@@ -1,6 +1,5 @@
 import os
 
-import torch as th
 import yaml
 
 import omnigibson as og
@@ -8,7 +7,6 @@
     StarterSemanticActionPrimitives,
     StarterSemanticActionPrimitiveSet,
 )
-from omnigibson.macros import gm
 
 # Don't use GPU dynamics and use flatcache for performance boost
 # gm.USE_GPU_DYNAMICS = True
@@ -46,8 +44,6 @@ def main():
 
     # Load the environment
     env = og.Environment(configs=config)
-    scene = env.scene
-    robot = env.robots[0]
 
     # Allow user to move camera more easily
     og.sim.enable_viewer_camera_teleoperation()
diff --git a/omnigibson/examples/environments/navigation_env_demo.py b/omnigibson/examples/environments/navigation_env_demo.py
index e24be50da..00744b524 100644
--- a/omnigibson/examples/environments/navigation_env_demo.py
+++ b/omnigibson/examples/environments/navigation_env_demo.py
@@ -17,7 +17,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     og.log.info(f"Demo {__file__}\n    " + "*" * 80 + "\n    Description:\n" + main.__doc__ + "*" * 80)
 
     # Load the config
-    config_filename = os.path.join(og.example_config_path, f"turtlebot_nav.yaml")
+    config_filename = os.path.join(og.example_config_path, "turtlebot_nav.yaml")
     config = yaml.load(open(config_filename, "r"), Loader=yaml.FullLoader)
 
     # check if we want to quick load or full load the scene
diff --git a/omnigibson/examples/environments/vector_env_demo.py b/omnigibson/examples/environments/vector_env_demo.py
index d0882e7a6..989427aae 100644
--- a/omnigibson/examples/environments/vector_env_demo.py
+++ b/omnigibson/examples/environments/vector_env_demo.py
@@ -1,11 +1,6 @@
-import argparse
-import cProfile
-import io
 import os
-import pstats
 import time
 
-import torch as th
 import yaml
 
 import omnigibson as og
@@ -26,7 +21,6 @@ def main(random_selection=False, headless=False, short_exec=False):
 
     # Load the environment
     vec_env = og.VectorEnvironment(5, config)
-    import time
 
     max_iterations = 100 if not short_exec else 1
     for _ in range(max_iterations):
diff --git a/omnigibson/examples/learning/navigation_policy_demo.py b/omnigibson/examples/learning/navigation_policy_demo.py
index 33d905aa5..2aa66167d 100644
--- a/omnigibson/examples/learning/navigation_policy_demo.py
+++ b/omnigibson/examples/learning/navigation_policy_demo.py
@@ -17,13 +17,12 @@
 
 try:
     import gymnasium as gym
-    import tensorboard
+    import tensorboard  # noqa: F401
     import torch as th
     import torch.nn as nn
     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
 
diff --git a/omnigibson/examples/object_states/attachment_demo.py b/omnigibson/examples/object_states/attachment_demo.py
index e91c58818..3c79179a3 100644
--- a/omnigibson/examples/object_states/attachment_demo.py
+++ b/omnigibson/examples/object_states/attachment_demo.py
@@ -45,7 +45,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     obj_cfgs.append(
         dict(
             type="DatasetObject",
-            name=f"shelf_side_left",
+            name="shelf_side_left",
             category="shelf_side",
             model="bxfkjj",
             position=[-0.4, 0, base_z + delta_z * idx],
@@ -57,7 +57,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     obj_cfgs.append(
         dict(
             type="DatasetObject",
-            name=f"shelf_side_right",
+            name="shelf_side_right",
             category="shelf_side",
             model="yujrmw",
             position=[0.4, 0, base_z + delta_z * idx],
@@ -95,7 +95,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     obj_cfgs.append(
         dict(
             type="DatasetObject",
-            name=f"shelf_baseboard",
+            name="shelf_baseboard",
             category="shelf_baseboard",
             model="hlhneo",
             position=[0, -10.97884506, base_z + delta_z * idx],
diff --git a/omnigibson/examples/object_states/dicing_demo.py b/omnigibson/examples/object_states/dicing_demo.py
index 6141e8fee..08c26e9de 100644
--- a/omnigibson/examples/object_states/dicing_demo.py
+++ b/omnigibson/examples/object_states/dicing_demo.py
@@ -95,14 +95,14 @@ def main(random_selection=False, headless=False, short_exec=False):
         orientation=T.euler2quat(th.tensor([-math.pi / 2, 0, 0])),
     )
 
-    if short_exec == False:
+    if not short_exec:
         input("The knife will fall on the apple and dice it. Press [ENTER] to continue.")
 
     # Step simulation for a bit so that apple is diced
     for _ in range(1000):
         env.step(th.empty(0))
 
-    if short_exec == False:
+    if not short_exec:
         input("Apple has been diced! Press [ENTER] to terminate the demo.")
 
     # Always close simulator at the end
diff --git a/omnigibson/examples/object_states/heated_state_demo.py b/omnigibson/examples/object_states/heated_state_demo.py
index 13d34e25b..e24fe9bc5 100644
--- a/omnigibson/examples/object_states/heated_state_demo.py
+++ b/omnigibson/examples/object_states/heated_state_demo.py
@@ -89,7 +89,7 @@ def report_states(objs):
         env.step(th.empty(0))
         # Also print temperatures
         temps = [f"{obj.states[object_states.Temperature].get_value():>7.2f}" for obj in objs]
-        print(f"obj temps:", *temps, end="\r")
+        print("obj temps:", *temps, end="\r")
     print()
 
     # Objects are not heated anymore.
diff --git a/omnigibson/examples/object_states/particle_applier_remover_demo.py b/omnigibson/examples/object_states/particle_applier_remover_demo.py
index 24fbee551..f379e70db 100644
--- a/omnigibson/examples/object_states/particle_applier_remover_demo.py
+++ b/omnigibson/examples/object_states/particle_applier_remover_demo.py
@@ -3,7 +3,6 @@
 import omnigibson as og
 from omnigibson.macros import gm, macros
 from omnigibson.object_states import Covered, ToggledOn
-from omnigibson.utils.constants import ParticleModifyMethod
 from omnigibson.utils.ui_utils import choose_from_options
 
 # Set macros for this example
diff --git a/omnigibson/examples/object_states/sample_kinematics_demo.py b/omnigibson/examples/object_states/sample_kinematics_demo.py
index f5a60a864..11b6c79fb 100644
--- a/omnigibson/examples/object_states/sample_kinematics_demo.py
+++ b/omnigibson/examples/object_states/sample_kinematics_demo.py
@@ -1,11 +1,8 @@
-import os
-
 import torch as th
 
 import omnigibson as og
 from omnigibson import object_states
 from omnigibson.macros import gm
-from omnigibson.objects import DatasetObject
 
 # Make sure object states are enabled
 gm.ENABLE_OBJECT_STATES = True
@@ -67,7 +64,7 @@ def main(random_selection=False, headless=False, short_exec=False):
 
     shelf_cfg = dict(
         type="DatasetObject",
-        name=f"shelf",
+        name="shelf",
         category="shelf",
         model="pkgbcp",
         bounding_box=th.tensor([1.0, 0.4, 2.0]),
diff --git a/omnigibson/examples/objects/import_custom_object.py b/omnigibson/examples/objects/import_custom_object.py
index 959d80281..1b435f5cb 100644
--- a/omnigibson/examples/objects/import_custom_object.py
+++ b/omnigibson/examples/objects/import_custom_object.py
@@ -106,15 +106,15 @@ def import_custom_object(
         if confirm_bbox:
             if any(size > 3.0 for size in bbox_size):
                 click.echo(
-                    f"Warning: The bounding box sounds a bit large. Are you sure you don't need to scale? "
-                    f"We just wanted to confirm this is intentional. You can skip this check by passing --no-confirm-bbox."
+                    "Warning: The bounding box sounds a bit large. Are you sure you don't need to scale? "
+                    "We just wanted to confirm this is intentional. You can skip this check by passing --no-confirm-bbox."
                 )
                 click.confirm("Do you want to continue?", abort=True)
 
             elif any(size < 0.01 for size in bbox_size):
                 click.echo(
-                    f"Warning: The bounding box sounds a bit small. Are you sure you don't need to scale? "
-                    f"We just wanted to confirm this is intentional. You can skip this check by passing --no-confirm-bbox."
+                    "Warning: The bounding box sounds a bit small. Are you sure you don't need to scale? "
+                    "We just wanted to confirm this is intentional. You can skip this check by passing --no-confirm-bbox."
                 )
                 click.confirm("Do you want to continue?", abort=True)
 
diff --git a/omnigibson/examples/objects/load_object_selector.py b/omnigibson/examples/objects/load_object_selector.py
index 075415135..f16eca9e8 100644
--- a/omnigibson/examples/objects/load_object_selector.py
+++ b/omnigibson/examples/objects/load_object_selector.py
@@ -1,11 +1,7 @@
 import torch as th
 
 import omnigibson as og
-from omnigibson.utils.asset_utils import (
-    get_all_object_categories,
-    get_all_object_category_models,
-    get_og_avg_category_specs,
-)
+from omnigibson.utils.asset_utils import get_all_object_categories, get_all_object_category_models
 from omnigibson.utils.ui_utils import choose_from_options
 
 
@@ -35,9 +31,6 @@ def main(random_selection=False, headless=False, short_exec=False):
         options=available_obj_models, name="object model", random_selection=random_selection
     )
 
-    # Load the specs of the object categories, e.g., common scaling factor
-    avg_category_spec = get_og_avg_category_specs()
-
     # Create and load this object into the simulator
     obj_cfg = dict(
         type="DatasetObject",
diff --git a/omnigibson/examples/renderer_settings/renderer_settings_example.py b/omnigibson/examples/renderer_settings/renderer_settings_example.py
index e47748326..3d0b85910 100644
--- a/omnigibson/examples/renderer_settings/renderer_settings_example.py
+++ b/omnigibson/examples/renderer_settings/renderer_settings_example.py
@@ -89,14 +89,14 @@ def steps(n):
     renderer_setting.common_settings.materials_settings.skip_material_loading.set(True)
 
     # Get setting (3 lines below are equivalent).
-    assert renderer_setting.get_setting_from_path(path="/app/renderer/skipMaterialLoading") == True
-    assert renderer_setting.common_settings.materials_settings.skip_material_loading.value == True
-    assert renderer_setting.common_settings.materials_settings.skip_material_loading.get() == True
+    assert renderer_setting.get_setting_from_path(path="/app/renderer/skipMaterialLoading")
+    assert renderer_setting.common_settings.materials_settings.skip_material_loading.value
+    assert renderer_setting.common_settings.materials_settings.skip_material_loading.get()
 
     # Reset setting (2 lines below are equivalent).
     renderer_setting.reset_setting(path="/app/renderer/skipMaterialLoading")
     renderer_setting.common_settings.materials_settings.skip_material_loading.reset()
-    assert renderer_setting.get_setting_from_path(path="/app/renderer/skipMaterialLoading") == False
+    assert not renderer_setting.get_setting_from_path(path="/app/renderer/skipMaterialLoading")
 
     # Set setting to an unallowed value using top-level method.
     # Examples below will use the "top-level" setting method.
diff --git a/omnigibson/examples/robots/advanced/ik_example.py b/omnigibson/examples/robots/advanced/ik_example.py
index 72d0a6434..ab4f0afca 100644
--- a/omnigibson/examples/robots/advanced/ik_example.py
+++ b/omnigibson/examples/robots/advanced/ik_example.py
@@ -6,8 +6,6 @@
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.objects import PrimitiveObject
-from omnigibson.robots import Fetch
-from omnigibson.scenes import Scene
 from omnigibson.utils.control_utils import IKSolver
 
 
@@ -117,7 +115,7 @@ def execute_ik(pos, quat=None, max_iter=100):
     else:
         # Create a visual marker to be moved by the user, representing desired end-effector position
         marker = PrimitiveObject(
-            relative_prim_path=f"/marker",
+            relative_prim_path="/marker",
             name="marker",
             primitive_type="Sphere",
             radius=0.03,
@@ -164,7 +162,7 @@ def keyboard_event_handler(event, *args, **kwargs):
         appwindow = lazy.omni.appwindow.get_default_app_window()
         input_interface = lazy.carb.input.acquire_input_interface()
         keyboard = appwindow.get_keyboard()
-        sub_keyboard = input_interface.subscribe_to_keyboard_events(keyboard, keyboard_event_handler)
+        input_interface.subscribe_to_keyboard_events(keyboard, keyboard_event_handler)
 
         # Print out helpful information to the user
         print_message()
diff --git a/omnigibson/examples/robots/curobo_example.py b/omnigibson/examples/robots/curobo_example.py
index ae54ce866..1e94c52df 100644
--- a/omnigibson/examples/robots/curobo_example.py
+++ b/omnigibson/examples/robots/curobo_example.py
@@ -3,11 +3,8 @@
 import torch as th
 
 import omnigibson as og
-import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
 from omnigibson.action_primitives.curobo import CuRoboEmbodimentSelection, CuRoboMotionGenerator
-from omnigibson.macros import gm, macros
-from omnigibson.object_states import Touching
 from omnigibson.utils.ui_utils import choose_from_options
 
 
@@ -301,7 +298,7 @@ def test_curobo():
     )
     attached_obj = {robot.eef_link_names["left"]: cologne.root_link}
     control_gripper(env, robot, attached_obj)
-    assert robot._ag_obj_in_hand["left"] == cologne and robot._ag_obj_in_hand["right"] == None
+    assert robot._ag_obj_in_hand["left"] == cologne and robot._ag_obj_in_hand["right"] is None
 
     # Reset to reset pose (both hands)
     target_pos = {
@@ -362,7 +359,7 @@ def test_curobo():
     )
     attached_obj = {robot.eef_link_names["left"]: cologne.root_link}
     control_gripper(env, robot, attached_obj)
-    assert robot._ag_obj_in_hand["left"] == cologne and robot._ag_obj_in_hand["right"] == None
+    assert robot._ag_obj_in_hand["left"] == cologne and robot._ag_obj_in_hand["right"] is None
 
     # Place the cologne (left hand)
     left_hand_pos, left_hand_quat = T.pose_transform(*fridge.get_position_orientation(), *fridge_place_local_pose)
@@ -376,7 +373,7 @@ def test_curobo():
     )
     attached_obj = None
     control_gripper(env, robot, attached_obj)
-    assert robot._ag_obj_in_hand["left"] == None and robot._ag_obj_in_hand["right"] == None
+    assert robot._ag_obj_in_hand["left"] is None and robot._ag_obj_in_hand["right"] is None
 
     og.shutdown()
 
diff --git a/omnigibson/examples/robots/import_custom_robot.py b/omnigibson/examples/robots/import_custom_robot.py
index 462812e7a..4e800a308 100644
--- a/omnigibson/examples/robots/import_custom_robot.py
+++ b/omnigibson/examples/robots/import_custom_robot.py
@@ -410,11 +410,9 @@ def add_sensor(stage, root_prim, sensor_type, link_name, parent_link_name=None,
     link_prim_path = f"{root_prim_path}/{link_name}"
     link_prim_exists = lazy.omni.isaac.core.utils.prims.is_prim_path_valid(link_prim_path)
     if parent_link_prim is not None:
-        assert (
-            not link_prim_exists
-        ), f"Since parent link is defined, link_name {link_name} must be a link that is NOT pre-existing within the robot's set of links!"
+        assert not link_prim_exists, f"Since parent link is defined, link_name {link_name} must be a link that is NOT pre-existing within the robot's set of links!"
         # Manually create a new prim (specified offset)
-        link_prim = create_rigid_prim(
+        create_rigid_prim(
             stage=stage,
             link_prim_path=link_prim_path,
         )
@@ -443,10 +441,7 @@ def add_sensor(stage, root_prim, sensor_type, link_name, parent_link_name=None,
 
     else:
         # Otherwise, link prim MUST exist
-        assert (
-            link_prim_exists
-        ), f"Since no parent link is defined, link_name {link_name} must be a link that IS pre-existing within the robot's set of links!"
-        link_prim = lazy.omni.isaac.core.utils.prims.get_prim_at_path(link_prim_path)
+        assert link_prim_exists, f"Since no parent link is defined, link_name {link_name} must be a link that IS pre-existing within the robot's set of links!"
 
     # Define functions to generate the desired sensor prim
     if sensor_type == "Camera":
@@ -721,11 +716,6 @@ def get_joint_upper_limit(root_prim, joint_name):
         assert joint_prim is not None, f"Could not find joint prim with name {joint_name}!"
         return joint_prim.GetAttribute("physics:upperLimit").Get()
 
-    all_links = _find_prims_with_condition(
-        condition=lambda prim: prim.HasAPI(lazy.pxr.UsdPhysics.RigidBodyAPI),
-        root_prim=robot_prim,
-    )
-
     # Generate list of collision link names -- this is simply the list of all link names from the
     # collision spheres specification
     collision_spheres = curobo_cfg.collision_spheres.to_dict()
diff --git a/omnigibson/examples/scenes/scene_tour_demo.py b/omnigibson/examples/scenes/scene_tour_demo.py
index 4bcc57992..058418156 100644
--- a/omnigibson/examples/scenes/scene_tour_demo.py
+++ b/omnigibson/examples/scenes/scene_tour_demo.py
@@ -67,7 +67,7 @@ def add_waypoint():
 
     def clear_waypoints():
         nonlocal waypoints
-        print(f"Cleared all waypoints!")
+        print("Cleared all waypoints!")
         waypoints = []
 
     KeyboardEventHandler.initialize()
@@ -95,10 +95,10 @@ def clear_waypoints():
     )
 
     # Print out additional keyboard commands
-    print(f"\t X: Save the current camera pose as a waypoint")
-    print(f"\t C: Clear all waypoints")
-    print(f"\t J: Record the camera trajectory from the current set of waypoints")
-    print(f"\t ESC: Terminate the demo")
+    print("\t X: Save the current camera pose as a waypoint")
+    print("\t C: Clear all waypoints")
+    print("\t J: Record the camera trajectory from the current set of waypoints")
+    print("\t ESC: Terminate the demo")
 
     # Loop indefinitely
     steps = 0
diff --git a/omnigibson/examples/scenes/traversability_map_example.py b/omnigibson/examples/scenes/traversability_map_example.py
index f2c912b29..2818f51b1 100644
--- a/omnigibson/examples/scenes/traversability_map_example.py
+++ b/omnigibson/examples/scenes/traversability_map_example.py
@@ -3,7 +3,6 @@
 import cv2
 import matplotlib.pyplot as plt
 import torch as th
-from PIL import Image
 
 import omnigibson as og
 from omnigibson.utils.asset_utils import get_available_og_scenes, get_og_scene_path
diff --git a/omnigibson/install.py b/omnigibson/install.py
index eec12a267..302c68bf6 100644
--- a/omnigibson/install.py
+++ b/omnigibson/install.py
@@ -5,7 +5,6 @@
 import sys
 import tempfile
 import urllib.request
-from importlib.util import find_spec
 from pathlib import Path
 from typing import List, Optional
 
@@ -254,7 +253,7 @@ def _pip_based_install():
 
         # Check that it can now be imported
         os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
-        import isaacsim
+        import isaacsim  # noqa: F401
     except ImportError:
         return False
 
@@ -323,7 +322,10 @@ def setup_omnigibson(install_datasets: bool, launcher_install: bool, isaac_sim_p
     # Check if the isaacsim package is already installed
     try:
         os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
-        import isaacsim
+
+        # We import this, skip the unused import warning, because the import actually has side effects
+        # in terms of what's included in the Python path.
+        import isaacsim  # noqa: F401
 
         click.echo("Isaac Sim is already installed via pip in your current env.")
         click.echo("If you need to download the datasets, please run omnigibson/download_datasets.py.")
@@ -363,12 +365,12 @@ def setup_omnigibson(install_datasets: bool, launcher_install: bool, isaac_sim_p
         dataset_exists, assets_exist = os.path.exists(gm.DATASET_PATH), os.path.exists(gm.ASSET_PATH)
         if not (dataset_exists and assets_exist):
             # Ask user which dataset to install
-            click.echo(f"OmniGibson will now install data under the following locations:")
+            click.echo("OmniGibson will now install data under the following locations:")
             click.echo(f"    dataset (~25GB): {gm.DATASET_PATH}")
             click.echo(f"    assets (~2.5GB): {gm.ASSET_PATH}")
             click.echo(
-                f"If you want to install data under a different path, please change the DATA_PATH variable in omnigibson/macros.py and "
-                f"rerun omnigibson/download_datasets.py."
+                "If you want to install data under a different path, please change the DATA_PATH variable in omnigibson/macros.py and "
+                "rerun omnigibson/download_datasets.py."
             )
             if click.confirm("Do you want to continue?", default=True):
                 # Only download if the dataset path doesn't exist
diff --git a/omnigibson/maps/__init__.py b/omnigibson/maps/__init__.py
index b57ce6a5d..f25d9dfac 100644
--- a/omnigibson/maps/__init__.py
+++ b/omnigibson/maps/__init__.py
@@ -1,3 +1,9 @@
 from omnigibson.maps.map_base import BaseMap
 from omnigibson.maps.segmentation_map import SegmentationMap
 from omnigibson.maps.traversable_map import TraversableMap
+
+__all__ = [
+    "BaseMap",
+    "SegmentationMap",
+    "TraversableMap",
+]
diff --git a/omnigibson/maps/segmentation_map.py b/omnigibson/maps/segmentation_map.py
index c289b2030..c3faa04e1 100644
--- a/omnigibson/maps/segmentation_map.py
+++ b/omnigibson/maps/segmentation_map.py
@@ -3,7 +3,6 @@
 import cv2
 import torch as th
 
-import omnigibson as og
 from omnigibson.macros import gm
 from omnigibson.maps.map_base import BaseMap
 from omnigibson.utils.python_utils import torch_delete
diff --git a/omnigibson/object_states/__init__.py b/omnigibson/object_states/__init__.py
index c6d487333..d385acc42 100644
--- a/omnigibson/object_states/__init__.py
+++ b/omnigibson/object_states/__init__.py
@@ -34,3 +34,49 @@
 from omnigibson.object_states.toggle import ToggledOn
 from omnigibson.object_states.touching import Touching
 from omnigibson.object_states.under import Under
+
+__all__ = [
+    "AABB",
+    "AttachedTo",
+    "Burnt",
+    "ContactBodies",
+    "ContactParticles",
+    "ContainedParticles",
+    "Contains",
+    "Cooked",
+    "Covered",
+    "Draped",
+    "Filled",
+    "Folded",
+    "FoldedLevel",
+    "Frozen",
+    "Heated",
+    "HeatSourceOrSink",
+    "HorizontalAdjacency",
+    "Inside",
+    "IsGrasping",
+    "Joint",
+    "MaxTemperature",
+    "NextTo",
+    "ObjectsInFOVOfRobot",
+    "OnFire",
+    "OnTop",
+    "Open",
+    "Overlaid",
+    "ParticleApplier",
+    "ParticleRemover",
+    "ParticleRequirement",
+    "ParticleSink",
+    "ParticleSource",
+    "Pose",
+    "REGISTERED_OBJECT_STATES",
+    "Saturated",
+    "SliceableRequirement",
+    "SlicerActive",
+    "Temperature",
+    "ToggledOn",
+    "Touching",
+    "Under",
+    "Unfolded",
+    "VerticalAdjacency",
+]
diff --git a/omnigibson/object_states/adjacency.py b/omnigibson/object_states/adjacency.py
index 736acb1d1..c75aee4f7 100644
--- a/omnigibson/object_states/adjacency.py
+++ b/omnigibson/object_states/adjacency.py
@@ -3,7 +3,6 @@
 
 import torch as th
 
-import omnigibson as og
 from omnigibson.macros import create_module_macros
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.object_state_base import AbsoluteObjectState
diff --git a/omnigibson/object_states/attached_to.py b/omnigibson/object_states/attached_to.py
index 904d3c51b..30a7b35fb 100644
--- a/omnigibson/object_states/attached_to.py
+++ b/omnigibson/object_states/attached_to.py
@@ -14,7 +14,7 @@
 from omnigibson.utils.constants import JointType
 from omnigibson.utils.python_utils import classproperty
 from omnigibson.utils.ui_utils import create_module_logger
-from omnigibson.utils.usd_utils import CollisionAPI, create_joint
+from omnigibson.utils.usd_utils import create_joint
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
@@ -423,7 +423,7 @@ def _load_state(self, state):
                 self.set_value(self.parent, False)
                 # assert self.parent is None, "parent reference is not cleared after detachment"
                 if self.parent is not None:
-                    log.warning(f"parent reference is not cleared after detachment")
+                    log.warning("parent reference is not cleared after detachment")
 
             # If the loaded state requires attachment, attach.
             if attached_obj is not None:
@@ -436,7 +436,7 @@ def _load_state(self, state):
                 )
                 # assert self.parent == attached_obj, "parent reference is not updated after attachment"
                 if self.parent != attached_obj:
-                    log.warning(f"parent reference is not updated after attachment")
+                    log.warning("parent reference is not updated after attachment")
 
     def serialize(self, state):
         return th.tensor([state["attached_obj_uuid"]], dtype=th.float32)
diff --git a/omnigibson/object_states/contact_bodies.py b/omnigibson/object_states/contact_bodies.py
index e9a63ea74..b6ba6187f 100644
--- a/omnigibson/object_states/contact_bodies.py
+++ b/omnigibson/object_states/contact_bodies.py
@@ -1,6 +1,5 @@
-import omnigibson as og
 from omnigibson.object_states.object_state_base import AbsoluteObjectState
-from omnigibson.utils.sim_utils import prim_paths_to_rigid_prims, prims_to_rigid_prim_set
+from omnigibson.utils.sim_utils import prim_paths_to_rigid_prims
 
 
 class ContactBodies(AbsoluteObjectState):
diff --git a/omnigibson/object_states/factory.py b/omnigibson/object_states/factory.py
index c4d26c88c..9df7c96ab 100644
--- a/omnigibson/object_states/factory.py
+++ b/omnigibson/object_states/factory.py
@@ -2,7 +2,41 @@
 
 import networkx as nx
 
-from omnigibson.object_states import *
+from omnigibson.object_states import (
+    REGISTERED_OBJECT_STATES,
+    AttachedTo,
+    Burnt,
+    Contains,
+    Cooked,
+    Covered,
+    Draped,
+    Filled,
+    Folded,
+    Frozen,
+    Heated,
+    HeatSourceOrSink,
+    Inside,
+    IsGrasping,
+    MaxTemperature,
+    NextTo,
+    ObjectsInFOVOfRobot,
+    OnFire,
+    OnTop,
+    Open,
+    Overlaid,
+    ParticleApplier,
+    ParticleRemover,
+    ParticleRequirement,
+    ParticleSink,
+    ParticleSource,
+    Saturated,
+    SliceableRequirement,
+    SlicerActive,
+    ToggledOn,
+    Touching,
+    Under,
+    Unfolded,
+)
 from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.link_based_state_mixin import LinkBasedStateMixin
 
diff --git a/omnigibson/object_states/filled.py b/omnigibson/object_states/filled.py
index 4eceee2bb..bb8df249c 100644
--- a/omnigibson/object_states/filled.py
+++ b/omnigibson/object_states/filled.py
@@ -1,5 +1,3 @@
-import torch as th
-
 from omnigibson.macros import create_module_macros
 from omnigibson.object_states.contains import ContainedParticles
 from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
@@ -15,7 +13,6 @@
 
 
 class Filled(RelativeObjectState, BooleanStateMixin):
-
     def _get_value(self, system):
         # Sanity check to make sure system is valid
         assert self.obj.scene.is_physical_particle_system(
diff --git a/omnigibson/object_states/heat_source_or_sink.py b/omnigibson/object_states/heat_source_or_sink.py
index b3e3f32fd..3644bfab1 100644
--- a/omnigibson/object_states/heat_source_or_sink.py
+++ b/omnigibson/object_states/heat_source_or_sink.py
@@ -1,7 +1,7 @@
 import torch as th
 
 import omnigibson as og
-from omnigibson.macros import create_module_macros, macros
+from omnigibson.macros import create_module_macros
 from omnigibson.object_states.aabb import AABB
 from omnigibson.object_states.inside import Inside
 from omnigibson.object_states.link_based_state_mixin import LinkBasedStateMixin
@@ -199,7 +199,6 @@ def affects_obj(self, obj):
     def _update(self):
         # Avoid circular imports
         from omnigibson.object_states.temperature import Temperature
-        from omnigibson.objects.stateful_object import StatefulObject
 
         # Update the internally tracked nearby objects to accelerate filtering for affects_obj
         affected_objects = set()
diff --git a/omnigibson/object_states/inside.py b/omnigibson/object_states/inside.py
index f3899540b..7f9bb8761 100644
--- a/omnigibson/object_states/inside.py
+++ b/omnigibson/object_states/inside.py
@@ -5,7 +5,6 @@
 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.object_states.pose import Pose
 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
diff --git a/omnigibson/object_states/joint_state.py b/omnigibson/object_states/joint_state.py
index 7293fee9f..dedc62d07 100644
--- a/omnigibson/object_states/joint_state.py
+++ b/omnigibson/object_states/joint_state.py
@@ -10,7 +10,6 @@
 
 
 class Joint(AbsoluteObjectState):
-
     def _get_value(self):
         return self.obj.get_joint_positions() if self.obj.n_joints > 0 else th.tensor([])
 
diff --git a/omnigibson/object_states/next_to.py b/omnigibson/object_states/next_to.py
index bbf7d11c4..7b224ff7a 100644
--- a/omnigibson/object_states/next_to.py
+++ b/omnigibson/object_states/next_to.py
@@ -7,7 +7,6 @@
 
 
 class NextTo(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
-
     @classmethod
     def get_dependencies(cls):
         deps = super().get_dependencies()
diff --git a/omnigibson/object_states/on_top.py b/omnigibson/object_states/on_top.py
index 95ba5a08b..09a6ecd62 100644
--- a/omnigibson/object_states/on_top.py
+++ b/omnigibson/object_states/on_top.py
@@ -9,7 +9,6 @@
 
 
 class OnTop(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
-
     @classmethod
     def get_dependencies(cls):
         deps = super().get_dependencies()
diff --git a/omnigibson/object_states/overlaid.py b/omnigibson/object_states/overlaid.py
index 12f6369c5..3f0a4d408 100644
--- a/omnigibson/object_states/overlaid.py
+++ b/omnigibson/object_states/overlaid.py
@@ -23,7 +23,6 @@
 
 
 class Overlaid(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
-
     @classmethod
     def get_dependencies(cls):
         deps = super().get_dependencies()
diff --git a/omnigibson/object_states/particle.py b/omnigibson/object_states/particle.py
index 25c2ea4df..c35316e00 100644
--- a/omnigibson/object_states/particle.py
+++ b/omnigibson/object_states/particle.py
@@ -1,5 +1,3 @@
-import torch as th
-
 from omnigibson.object_states.object_state_base import BaseObjectRequirement
 
 
@@ -13,6 +11,6 @@ def is_compatible(cls, obj, **kwargs):
         from omnigibson.macros import gm
 
         if not gm.USE_GPU_DYNAMICS:
-            return False, f"Particle systems are not enabled when GPU dynamics is off."
+            return False, "Particle systems are not enabled when GPU dynamics is off."
 
         return True, None
diff --git a/omnigibson/object_states/particle_modifier.py b/omnigibson/object_states/particle_modifier.py
index a7f655eab..053baf1b6 100644
--- a/omnigibson/object_states/particle_modifier.py
+++ b/omnigibson/object_states/particle_modifier.py
@@ -19,7 +19,7 @@
 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 PhysicalParticleSystem, VisualParticleSystem
+from omnigibson.systems.system_base import PhysicalParticleSystem
 from omnigibson.utils.constants import ParticleModifyCondition, ParticleModifyMethod, PrimType
 from omnigibson.utils.geometry_utils import (
     generate_points_in_volume_checker_function,
@@ -224,7 +224,6 @@ def condition(obj) --> bool
     """
 
     def __init__(self, obj, conditions, method=ParticleModifyMethod.ADJACENCY, projection_mesh_params=None):
-
         # Store internal variables
         self.method = method
         self.projection_source_sphere = None
@@ -564,7 +563,7 @@ def condition(obj) --> bool
             # Make sure conds isn't empty and is a list
             if conds is None:
                 continue
-            assert type(conds) == list, f"Expected list of conditions for system {system_name}, got {conds}"
+            assert type(conds) is list, f"Expected list of conditions for system {system_name}, got {conds}"
             system_conditions = []
             for cond_type, cond_val in conds:
                 cond = self._generate_condition(condition_type=cond_type, value=cond_val)
diff --git a/omnigibson/object_states/pose.py b/omnigibson/object_states/pose.py
index bf1a7bc36..0d5555263 100644
--- a/omnigibson/object_states/pose.py
+++ b/omnigibson/object_states/pose.py
@@ -11,7 +11,6 @@
 
 
 class Pose(AbsoluteObjectState):
-
     def _get_value(self):
         pos, orn = self.obj.get_position_orientation()
         return pos, orn
diff --git a/omnigibson/object_states/robot_related_states.py b/omnigibson/object_states/robot_related_states.py
index 6567951d8..108147f44 100644
--- a/omnigibson/object_states/robot_related_states.py
+++ b/omnigibson/object_states/robot_related_states.py
@@ -1,6 +1,3 @@
-import torch as th
-
-import omnigibson as og
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, BooleanStateMixin, RelativeObjectState
 from omnigibson.sensors import VisionSensor
 
diff --git a/omnigibson/object_states/sliceable.py b/omnigibson/object_states/sliceable.py
index 784226eb8..3c20898db 100644
--- a/omnigibson/object_states/sliceable.py
+++ b/omnigibson/object_states/sliceable.py
@@ -16,7 +16,7 @@ def is_compatible(cls, obj, **kwargs):
             return False, f"Only compatible with DatasetObject, but {obj} is of type {type(obj)}"
         # Check to make sure object parts are properly annotated in this object's metadata
         if not obj.metadata["object_parts"]:
-            return False, f"Missing required metadata 'object_parts'."
+            return False, "Missing required metadata 'object_parts'."
 
         return True, None
 
@@ -25,6 +25,6 @@ def is_compatible_asset(cls, prim, **kwargs):
         # Check to make sure object parts are properly annotated in this object's metadata
         metadata = prim.GetCustomData().get("metadata", dict())
         if not metadata.get("object_parts", None):
-            return False, f"Missing required metadata 'object_parts'."
+            return False, "Missing required metadata 'object_parts'."
 
         return True, None
diff --git a/omnigibson/object_states/temperature.py b/omnigibson/object_states/temperature.py
index f1b8b33d2..306f3d14f 100644
--- a/omnigibson/object_states/temperature.py
+++ b/omnigibson/object_states/temperature.py
@@ -17,7 +17,6 @@
 
 
 class Temperature(TensorizedValueState):
-
     def __init__(self, obj):
         # Run super first
         super(Temperature, self).__init__(obj)
diff --git a/omnigibson/object_states/toggle.py b/omnigibson/object_states/toggle.py
index 9088d8482..297a37cae 100644
--- a/omnigibson/object_states/toggle.py
+++ b/omnigibson/object_states/toggle.py
@@ -21,7 +21,6 @@
 
 
 class ToggledOn(AbsoluteObjectState, BooleanStateMixin, LinkBasedStateMixin, UpdateStateMixin, GlobalUpdateStateMixin):
-
     # List of set of prim paths defining robot finger links belonging to any manipulation robots per scene
     _robot_finger_paths = None
 
@@ -107,7 +106,7 @@ def _initialize(self):
             self.scale = m.DEFAULT_SCALE if self.scale is None else self.scale
             # Note: We have to create a mesh (instead of a sphere shape) because physx complains about non-uniform
             # scaling for non-meshes
-            mesh = create_primitive_mesh(
+            create_primitive_mesh(
                 prim_path=mesh_prim_path,
                 primitive_type="Sphere",
                 extents=1.0,
diff --git a/omnigibson/object_states/touching.py b/omnigibson/object_states/touching.py
index 06a97e65f..ce80c66f6 100644
--- a/omnigibson/object_states/touching.py
+++ b/omnigibson/object_states/touching.py
@@ -5,7 +5,6 @@
 
 
 class Touching(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
-
     @staticmethod
     def _check_contact(obj_a, obj_b):
         return len(set(obj_a.links.values()) & obj_b.states[ContactBodies].get_value()) > 0
diff --git a/omnigibson/objects/__init__.py b/omnigibson/objects/__init__.py
index e2c635672..6a52b7d46 100644
--- a/omnigibson/objects/__init__.py
+++ b/omnigibson/objects/__init__.py
@@ -5,3 +5,14 @@
 from omnigibson.objects.primitive_object import PrimitiveObject
 from omnigibson.objects.stateful_object import StatefulObject
 from omnigibson.objects.usd_object import USDObject
+
+__all__ = [
+    "BaseObject",
+    "ControllableObject",
+    "DatasetObject",
+    "LightObject",
+    "PrimitiveObject",
+    "REGISTERED_OBJECTS",
+    "StatefulObject",
+    "USDObject",
+]
diff --git a/omnigibson/objects/dataset_object.py b/omnigibson/objects/dataset_object.py
index 11b525b83..98fce936b 100644
--- a/omnigibson/objects/dataset_object.py
+++ b/omnigibson/objects/dataset_object.py
@@ -5,7 +5,6 @@
 
 import torch as th
 
-import omnigibson as og
 import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
 from omnigibson.macros import create_module_macros, gm
diff --git a/omnigibson/objects/light_object.py b/omnigibson/objects/light_object.py
index 4a99a7f43..cc97af77f 100644
--- a/omnigibson/objects/light_object.py
+++ b/omnigibson/objects/light_object.py
@@ -96,10 +96,10 @@ def __init__(
     def _load(self):
         # Define XForm and base link for this light
         prim = og.sim.stage.DefinePrim(self.prim_path, "Xform")
-        base_link = og.sim.stage.DefinePrim(f"{self.prim_path}/base_link", "Xform")
+        og.sim.stage.DefinePrim(f"{self.prim_path}/base_link", "Xform")
 
         # Define the actual light link
-        light_prim = (
+        (
             getattr(lazy.pxr.UsdLux, f"{self.light_type}Light")
             .Define(og.sim.stage, f"{self.prim_path}/base_link/light")
             .GetPrim()
@@ -118,7 +118,7 @@ def _post_load(self):
         self._light_link.load(self.scene)
 
         # Apply Shaping API and set default cone angle attribute
-        shaping_api = lazy.pxr.UsdLux.ShapingAPI.Apply(self._light_link.prim).GetShapingConeAngleAttr().Set(180.0)
+        lazy.pxr.UsdLux.ShapingAPI.Apply(self._light_link.prim).GetShapingConeAngleAttr().Set(180.0)
 
         # Optionally set the intensity
         if self._load_config.get("intensity", None) is not None:
diff --git a/omnigibson/objects/object_base.py b/omnigibson/objects/object_base.py
index a4101b42f..c85a9a917 100644
--- a/omnigibson/objects/object_base.py
+++ b/omnigibson/objects/object_base.py
@@ -1,20 +1,18 @@
-import math
 from abc import ABCMeta
 from collections.abc import Iterable
 from functools import cached_property
 
 import torch as th
-import trimesh
 
 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.macros import create_module_macros
 from omnigibson.prims.entity_prim import EntityPrim
-from omnigibson.utils.constants import PrimType, semantic_class_name_to_id
+from omnigibson.utils.constants import PrimType
 from omnigibson.utils.python_utils import Registerable, classproperty, get_uuid
 from omnigibson.utils.ui_utils import create_module_logger, suppress_omni_log
-from omnigibson.utils.usd_utils import CollisionAPI, create_joint
+from omnigibson.utils.usd_utils import create_joint
 
 # Global dicts that will contain mappings
 REGISTERED_OBJECTS = dict()
@@ -92,7 +90,9 @@ def __init__(
         load_config["scale"] = (
             scale
             if isinstance(scale, th.Tensor)
-            else th.tensor(scale, dtype=th.float32) if isinstance(scale, Iterable) else scale
+            else th.tensor(scale, dtype=th.float32)
+            if isinstance(scale, Iterable)
+            else scale
         )
         load_config["visible"] = visible
         load_config["visual_only"] = visual_only
@@ -144,7 +144,7 @@ def _post_load(self):
             if (
                 self.n_joints == 0
                 and (th.all(th.isclose(scale, th.ones_like(scale), atol=1e-3)).item() or self.n_fixed_joints == 0)
-                and (self._load_config["kinematic_only"] != False)
+                and (self._load_config["kinematic_only"] is not False)
                 and not self.has_attachment_points
             ):
                 kinematic_only = True
diff --git a/omnigibson/objects/primitive_object.py b/omnigibson/objects/primitive_object.py
index de72478c3..3f280d2cf 100644
--- a/omnigibson/objects/primitive_object.py
+++ b/omnigibson/objects/primitive_object.py
@@ -119,7 +119,7 @@ def _load(self):
         prim = og.sim.stage.DefinePrim(self.prim_path, "Xform")
 
         # Define a nested mesh corresponding to the root link for this prim
-        base_link = og.sim.stage.DefinePrim(f"{self.prim_path}/base_link", "Xform")
+        og.sim.stage.DefinePrim(f"{self.prim_path}/base_link", "Xform")
         self._vis_geom = create_primitive_mesh(
             prim_path=f"{self.prim_path}/base_link/visuals", primitive_type=self._primitive_type
         )
@@ -135,7 +135,7 @@ def _load(self):
         # Create a material for this object for the base link
         og.sim.stage.DefinePrim(f"{self.prim_path}/Looks", "Scope")
         mat_path = f"{self.prim_path}/Looks/default"
-        mat = create_pbr_material(prim_path=mat_path)
+        create_pbr_material(prim_path=mat_path)
         bind_material(prim_path=self._vis_geom.GetPrim().GetPrimPath().pathString, material_path=mat_path)
 
         return prim
diff --git a/omnigibson/objects/stateful_object.py b/omnigibson/objects/stateful_object.py
index a1bd5fc1e..54e3ba96f 100644
--- a/omnigibson/objects/stateful_object.py
+++ b/omnigibson/objects/stateful_object.py
@@ -1,4 +1,3 @@
-import sys
 from collections import defaultdict
 from typing import Literal
 
@@ -24,7 +23,6 @@
 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 EmitterType, PrimType
diff --git a/omnigibson/objects/usd_object.py b/omnigibson/objects/usd_object.py
index 1ef06da99..f4d87a3d6 100644
--- a/omnigibson/objects/usd_object.py
+++ b/omnigibson/objects/usd_object.py
@@ -2,11 +2,10 @@
 import tempfile
 
 import omnigibson as og
-import omnigibson.lazy as lazy
 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, deep_copy_prim
+from omnigibson.utils.usd_utils import add_asset_to_stage
 
 
 class USDObject(StatefulObject):
diff --git a/omnigibson/prims/__init__.py b/omnigibson/prims/__init__.py
index ec7f6a9f6..01f5f8ff8 100644
--- a/omnigibson/prims/__init__.py
+++ b/omnigibson/prims/__init__.py
@@ -5,3 +5,16 @@
 from omnigibson.prims.prim_base import BasePrim
 from omnigibson.prims.rigid_prim import RigidPrim
 from omnigibson.prims.xform_prim import XFormPrim
+
+__all__ = [
+    "BasePrim",
+    "ClothPrim",
+    "CollisionGeomPrim",
+    "CollisionVisualGeomPrim",
+    "EntityPrim",
+    "GeomPrim",
+    "JointPrim",
+    "RigidPrim",
+    "VisualGeomPrim",
+    "XFormPrim",
+]
diff --git a/omnigibson/prims/cloth_prim.py b/omnigibson/prims/cloth_prim.py
index 9c416eaeb..ee0a875ef 100644
--- a/omnigibson/prims/cloth_prim.py
+++ b/omnigibson/prims/cloth_prim.py
@@ -8,7 +8,6 @@
 #
 
 import math
-from collections.abc import Iterable
 from functools import cached_property
 
 import torch as th
@@ -20,7 +19,7 @@
 from omnigibson.prims.geom_prim import GeomPrim
 from omnigibson.utils.numpy_utils import vtarray_to_torch
 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.usd_utils import mesh_prim_to_trimesh_mesh, sample_mesh_keypoints
 
 # 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 7b03dad9e..a27e8ef1f 100644
--- a/omnigibson/prims/geom_prim.py
+++ b/omnigibson/prims/geom_prim.py
@@ -31,7 +31,6 @@ def __init__(
         name,
         load_config=None,
     ):
-
         # Run super method
         super().__init__(
             relative_prim_path=relative_prim_path,
@@ -117,7 +116,7 @@ def opacity(self, opacity):
         if self.has_material():
             self.material.opacity_constant = opacity
         else:
-            self.set_attribute("primvars:displayOpacity", np.array([opacity]))
+            self.set_attribute("primvars:displayOpacity", [opacity])
 
     @property
     def points(self):
@@ -193,7 +192,6 @@ def extent(self):
 
 
 class CollisionGeomPrim(GeomPrim):
-
     def __init__(
         self,
         relative_prim_path,
@@ -436,7 +434,6 @@ class VisualGeomPrim(GeomPrim):
 
 
 class CollisionVisualGeomPrim(CollisionGeomPrim, VisualGeomPrim):
-
     def _post_load(self):
         # run super first
         super()._post_load()
diff --git a/omnigibson/prims/prim_base.py b/omnigibson/prims/prim_base.py
index 1d40b60dc..0331a736a 100644
--- a/omnigibson/prims/prim_base.py
+++ b/omnigibson/prims/prim_base.py
@@ -1,7 +1,6 @@
 import string
-from abc import ABC, abstractmethod
+from abc import ABC
 
-import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.utils.python_utils import Recreatable, Serializable
 from omnigibson.utils.ui_utils import create_module_logger
diff --git a/omnigibson/prims/rigid_prim.py b/omnigibson/prims/rigid_prim.py
index 6167f4ea9..1d547fdd7 100644
--- a/omnigibson/prims/rigid_prim.py
+++ b/omnigibson/prims/rigid_prim.py
@@ -3,12 +3,12 @@
 from typing import Literal
 
 import torch as th
-from scipy.spatial import ConvexHull, QhullError
+from scipy.spatial import ConvexHull
 
 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.macros import create_module_macros
 from omnigibson.prims.geom_prim import CollisionGeomPrim, VisualGeomPrim
 from omnigibson.prims.xform_prim import XFormPrim
 from omnigibson.utils.constants import GEOM_TYPES
diff --git a/omnigibson/renderer_settings/__init__.py b/omnigibson/renderer_settings/__init__.py
index 9dd9126a4..211feb3bd 100644
--- a/omnigibson/renderer_settings/__init__.py
+++ b/omnigibson/renderer_settings/__init__.py
@@ -1 +1,5 @@
 from omnigibson.renderer_settings.renderer_settings import RendererSettings
+
+__all__ = [
+    "RendererSettings",
+]
diff --git a/omnigibson/renderer_settings/path_tracing_settings.py b/omnigibson/renderer_settings/path_tracing_settings.py
index d53e34786..b64636616 100644
--- a/omnigibson/renderer_settings/path_tracing_settings.py
+++ b/omnigibson/renderer_settings/path_tracing_settings.py
@@ -18,7 +18,7 @@ class PathTracingSettings(SettingsBase):
     def __init__(self):
         self.anti_aliasing_settings = AntiAliasingSettings()
         self.firefly_filter_settings = FireflyFilterSettings()
-        self.path_tracing_settings = PathTracingSettings()
+        self.path_tracing_settings = PathTracingSpecificSettings()
         self.sampling_and_caching_settings = SamplingAndCachingSettings()
         self.denoising_settings = DenoisingSettings()
         self.path_traced_fog_settings = PathTracedFogSettings()
@@ -101,7 +101,7 @@ def enabled_setting_path(self):
         return "/rtx/pathtracing/fireflyFilter/enabled"
 
 
-class PathTracingSettings(SubSettingsBase):
+class PathTracingSpecificSettings(SubSettingsBase):
     def __init__(self):
         self._carb_settings = lazy.carb.settings.get_settings()
 
diff --git a/omnigibson/reward_functions/__init__.py b/omnigibson/reward_functions/__init__.py
index 2f10acdce..ac9e61a5d 100644
--- a/omnigibson/reward_functions/__init__.py
+++ b/omnigibson/reward_functions/__init__.py
@@ -4,3 +4,13 @@
 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
+
+__all__ = [
+    "BaseRewardFunction",
+    "CollisionReward",
+    "GraspReward",
+    "PointGoalReward",
+    "PotentialReward",
+    "ReachingGoalReward",
+    "REGISTERED_REWARD_FUNCTIONS",
+]
diff --git a/omnigibson/robots/__init__.py b/omnigibson/robots/__init__.py
index e53c76662..0625a95fa 100644
--- a/omnigibson/robots/__init__.py
+++ b/omnigibson/robots/__init__.py
@@ -16,3 +16,25 @@
 from omnigibson.robots.turtlebot import Turtlebot
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
 from omnigibson.robots.vx300s import VX300S
+
+__all__ = [
+    "A1",
+    "ActiveCameraRobot",
+    "BaseRobot",
+    "BehaviorRobot",
+    "Fetch",
+    "FrankaMounted",
+    "FrankaPanda",
+    "Freight",
+    "Husky",
+    "Locobot",
+    "LocomotionRobot",
+    "ManipulationRobot",
+    "R1",
+    "REGISTERED_ROBOTS",
+    "Stretch",
+    "Tiago",
+    "Turtlebot",
+    "TwoWheelRobot",
+    "VX300S",
+]
diff --git a/omnigibson/robots/a1.py b/omnigibson/robots/a1.py
index 17b9549fe..b4cb60f14 100644
--- a/omnigibson/robots/a1.py
+++ b/omnigibson/robots/a1.py
@@ -98,15 +98,15 @@ def __init__(
             )
             self._teleop_rotation_offset = th.tensor([0, 0, 0.707, 0.707])
             self._ag_start_points = [
-                GraspingPoint(link_name=f"base_link", position=th.tensor([-0.025, -0.07, 0.012])),
-                GraspingPoint(link_name=f"base_link", position=th.tensor([-0.015, -0.11, 0.012])),
-                GraspingPoint(link_name=f"link14", position=th.tensor([-0.01, 0.015, 0.004])),
+                GraspingPoint(link_name="base_link", position=th.tensor([-0.025, -0.07, 0.012])),
+                GraspingPoint(link_name="base_link", position=th.tensor([-0.015, -0.11, 0.012])),
+                GraspingPoint(link_name="link14", position=th.tensor([-0.01, 0.015, 0.004])),
             ]
             self._ag_end_points = [
-                GraspingPoint(link_name=f"link22", position=th.tensor([0.006, 0.04, 0.003])),
-                GraspingPoint(link_name=f"link32", position=th.tensor([0.006, 0.045, 0.003])),
-                GraspingPoint(link_name=f"link42", position=th.tensor([0.006, 0.04, 0.003])),
-                GraspingPoint(link_name=f"link52", position=th.tensor([0.006, 0.04, 0.003])),
+                GraspingPoint(link_name="link22", position=th.tensor([0.006, 0.04, 0.003])),
+                GraspingPoint(link_name="link32", position=th.tensor([0.006, 0.045, 0.003])),
+                GraspingPoint(link_name="link42", position=th.tensor([0.006, 0.04, 0.003])),
+                GraspingPoint(link_name="link52", position=th.tensor([0.006, 0.04, 0.003])),
             ]
         else:
             raise ValueError(f"End effector {end_effector} not supported for A1")
diff --git a/omnigibson/robots/active_camera_robot.py b/omnigibson/robots/active_camera_robot.py
index 10153bdc8..ef2a21948 100644
--- a/omnigibson/robots/active_camera_robot.py
+++ b/omnigibson/robots/active_camera_robot.py
@@ -5,7 +5,6 @@
 
 from omnigibson.robots.robot_base import BaseRobot
 from omnigibson.utils.python_utils import classproperty
-from omnigibson.utils.usd_utils import ControllableObjectViewAPI
 
 
 class ActiveCameraRobot(BaseRobot):
diff --git a/omnigibson/robots/articulated_trunk_robot.py b/omnigibson/robots/articulated_trunk_robot.py
index 7491c05bd..2ebbfb4f9 100644
--- a/omnigibson/robots/articulated_trunk_robot.py
+++ b/omnigibson/robots/articulated_trunk_robot.py
@@ -4,7 +4,6 @@
 
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 from omnigibson.utils.python_utils import classproperty
-from omnigibson.utils.usd_utils import ControllableObjectViewAPI
 
 
 class ArticulatedTrunkRobot(ManipulationRobot):
diff --git a/omnigibson/robots/behavior_robot.py b/omnigibson/robots/behavior_robot.py
index b1eebd3de..442358653 100644
--- a/omnigibson/robots/behavior_robot.py
+++ b/omnigibson/robots/behavior_robot.py
@@ -8,7 +8,6 @@
 
 import torch as th
 
-import omnigibson as og
 import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
 from omnigibson.macros import create_module_macros, gm
@@ -469,8 +468,9 @@ def teleop_data_to_action(self, teleop_action) -> th.Tensor:
             # Process local transform adjustments
             hand_data = 0
             if teleop_action.is_valid[part_name]:
-                des_world_part_pos, des_world_part_orn = teleop_action[part_name][:3], T.euler2quat(
-                    teleop_action[part_name][3:6]
+                des_world_part_pos, des_world_part_orn = (
+                    teleop_action[part_name][:3],
+                    T.euler2quat(teleop_action[part_name][3:6]),
                 )
                 if part_name in self.arm_names:
                     # compute gripper action
diff --git a/omnigibson/robots/fetch.py b/omnigibson/robots/fetch.py
index 47df3eea3..325cf2f10 100644
--- a/omnigibson/robots/fetch.py
+++ b/omnigibson/robots/fetch.py
@@ -1,20 +1,15 @@
 import math
-import os
 from functools import cached_property
 
 import torch as th
 
-from omnigibson.controllers import ControlType
-from omnigibson.macros import gm
 from omnigibson.robots.active_camera_robot import ActiveCameraRobot
 from omnigibson.robots.articulated_trunk_robot import ArticulatedTrunkRobot
 from omnigibson.robots.manipulation_robot import GraspingPoint
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
 from omnigibson.robots.untucked_arm_pose_robot import UntuckedArmPoseRobot
-from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.transform_utils import euler2quat
 from omnigibson.utils.ui_utils import create_module_logger
-from omnigibson.utils.usd_utils import ControllableObjectViewAPI, JointType
 
 log = create_module_logger(module_name=__name__)
 
diff --git a/omnigibson/robots/franka.py b/omnigibson/robots/franka.py
index 30619c71e..ccb64e358 100644
--- a/omnigibson/robots/franka.py
+++ b/omnigibson/robots/franka.py
@@ -5,7 +5,6 @@
 
 from omnigibson.macros import gm
 from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
-from omnigibson.utils.transform_utils import euler2quat
 
 
 class FrankaPanda(ManipulationRobot):
@@ -114,14 +113,14 @@ def __init__(
             )
             self._teleop_rotation_offset = th.tensor([0, 0.7071, 0, 0.7071])
             self._ag_start_points = [
-                GraspingPoint(link_name=f"base_link", position=th.tensor([0.015, 0, -0.03])),
-                GraspingPoint(link_name=f"base_link", position=th.tensor([0.015, 0, -0.08])),
-                GraspingPoint(link_name=f"link_15_0_tip", position=th.tensor([0, 0.015, 0.007])),
+                GraspingPoint(link_name="base_link", position=th.tensor([0.015, 0, -0.03])),
+                GraspingPoint(link_name="base_link", position=th.tensor([0.015, 0, -0.08])),
+                GraspingPoint(link_name="link_15_0_tip", position=th.tensor([0, 0.015, 0.007])),
             ]
             self._ag_end_points = [
-                GraspingPoint(link_name=f"link_3_0_tip", position=th.tensor([0.012, 0, 0.007])),
-                GraspingPoint(link_name=f"link_7_0_tip", position=th.tensor([0.012, 0, 0.007])),
-                GraspingPoint(link_name=f"link_11_0_tip", position=th.tensor([0.012, 0, 0.007])),
+                GraspingPoint(link_name="link_3_0_tip", position=th.tensor([0.012, 0, 0.007])),
+                GraspingPoint(link_name="link_7_0_tip", position=th.tensor([0.012, 0, 0.007])),
+                GraspingPoint(link_name="link_11_0_tip", position=th.tensor([0.012, 0, 0.007])),
             ]
         elif "leap" in end_effector:
             self._model_name = f"franka_{end_effector}"
@@ -139,14 +138,14 @@ def __init__(
             )
             self._teleop_rotation_offset = th.tensor([-0.7071, 0.7071, 0, 0])
             self._ag_start_points = [
-                GraspingPoint(link_name=f"palm_center", position=th.tensor([0, -0.025, 0.035])),
-                GraspingPoint(link_name=f"palm_center", position=th.tensor([0, 0.03, 0.035])),
-                GraspingPoint(link_name=f"fingertip_4", position=th.tensor([-0.0115, -0.07, -0.015])),
+                GraspingPoint(link_name="palm_center", position=th.tensor([0, -0.025, 0.035])),
+                GraspingPoint(link_name="palm_center", position=th.tensor([0, 0.03, 0.035])),
+                GraspingPoint(link_name="fingertip_4", position=th.tensor([-0.0115, -0.07, -0.015])),
             ]
             self._ag_end_points = [
-                GraspingPoint(link_name=f"fingertip_1", position=th.tensor([-0.0115, -0.06, 0.015])),
-                GraspingPoint(link_name=f"fingertip_2", position=th.tensor([-0.0115, -0.06, 0.015])),
-                GraspingPoint(link_name=f"fingertip_3", position=th.tensor([-0.0115, -0.06, 0.015])),
+                GraspingPoint(link_name="fingertip_1", position=th.tensor([-0.0115, -0.06, 0.015])),
+                GraspingPoint(link_name="fingertip_2", position=th.tensor([-0.0115, -0.06, 0.015])),
+                GraspingPoint(link_name="fingertip_3", position=th.tensor([-0.0115, -0.06, 0.015])),
             ]
         elif end_effector == "inspire":
             self._model_name = f"franka_{end_effector}"
@@ -162,15 +161,15 @@ def __init__(
             self._teleop_rotation_offset = th.tensor([0, 0, 0.707, 0.707])
             # TODO: add ag support for inspire hand
             self._ag_start_points = [
-                GraspingPoint(link_name=f"base_link", position=th.tensor([-0.025, -0.07, 0.012])),
-                GraspingPoint(link_name=f"base_link", position=th.tensor([-0.015, -0.11, 0.012])),
-                GraspingPoint(link_name=f"link14", position=th.tensor([-0.01, 0.015, 0.004])),
+                GraspingPoint(link_name="base_link", position=th.tensor([-0.025, -0.07, 0.012])),
+                GraspingPoint(link_name="base_link", position=th.tensor([-0.015, -0.11, 0.012])),
+                GraspingPoint(link_name="link14", position=th.tensor([-0.01, 0.015, 0.004])),
             ]
             self._ag_end_points = [
-                GraspingPoint(link_name=f"link22", position=th.tensor([0.006, 0.04, 0.003])),
-                GraspingPoint(link_name=f"link32", position=th.tensor([0.006, 0.045, 0.003])),
-                GraspingPoint(link_name=f"link42", position=th.tensor([0.006, 0.04, 0.003])),
-                GraspingPoint(link_name=f"link52", position=th.tensor([0.006, 0.04, 0.003])),
+                GraspingPoint(link_name="link22", position=th.tensor([0.006, 0.04, 0.003])),
+                GraspingPoint(link_name="link32", position=th.tensor([0.006, 0.045, 0.003])),
+                GraspingPoint(link_name="link42", position=th.tensor([0.006, 0.04, 0.003])),
+                GraspingPoint(link_name="link52", position=th.tensor([0.006, 0.04, 0.003])),
             ]
         else:
             raise ValueError(f"End effector {end_effector} not supported for FrankaPanda")
diff --git a/omnigibson/robots/franka_mounted.py b/omnigibson/robots/franka_mounted.py
index c26d0a49a..bf531aa1f 100644
--- a/omnigibson/robots/franka_mounted.py
+++ b/omnigibson/robots/franka_mounted.py
@@ -1,5 +1,7 @@
 import os
 
+import torch as th
+
 from omnigibson.macros import gm
 from omnigibson.robots.franka import FrankaPanda
 from omnigibson.robots.manipulation_robot import GraspingPoint
diff --git a/omnigibson/robots/freight.py b/omnigibson/robots/freight.py
index 9f579bb1e..f6126d07c 100644
--- a/omnigibson/robots/freight.py
+++ b/omnigibson/robots/freight.py
@@ -1,9 +1,7 @@
-import os
 from functools import cached_property
 
 import torch as th
 
-from omnigibson.macros import gm
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
 from omnigibson.utils.ui_utils import create_module_logger
 
diff --git a/omnigibson/robots/holonomic_base_robot.py b/omnigibson/robots/holonomic_base_robot.py
index 89abac3ee..9babbb1c4 100644
--- a/omnigibson/robots/holonomic_base_robot.py
+++ b/omnigibson/robots/holonomic_base_robot.py
@@ -1,4 +1,3 @@
-from abc import abstractmethod
 from functools import cached_property
 from typing import Literal
 
diff --git a/omnigibson/robots/husky.py b/omnigibson/robots/husky.py
index a893f9d87..9f0dfc0a5 100644
--- a/omnigibson/robots/husky.py
+++ b/omnigibson/robots/husky.py
@@ -1,9 +1,7 @@
-import os
 from functools import cached_property
 
 import torch as th
 
-from omnigibson.macros import gm
 from omnigibson.robots.locomotion_robot import LocomotionRobot
 
 
diff --git a/omnigibson/robots/locobot.py b/omnigibson/robots/locobot.py
index 846fffaae..7006af231 100644
--- a/omnigibson/robots/locobot.py
+++ b/omnigibson/robots/locobot.py
@@ -1,9 +1,7 @@
-import os
 from functools import cached_property
 
 import torch as th
 
-from omnigibson.macros import gm
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
 
 
diff --git a/omnigibson/robots/locomotion_robot.py b/omnigibson/robots/locomotion_robot.py
index 5f5d06926..136189bac 100644
--- a/omnigibson/robots/locomotion_robot.py
+++ b/omnigibson/robots/locomotion_robot.py
@@ -7,7 +7,6 @@
 from omnigibson.robots.robot_base import BaseRobot
 from omnigibson.utils.python_utils import classproperty
 from omnigibson.utils.transform_utils import euler2quat, quat2mat, quat_multiply
-from omnigibson.utils.usd_utils import ControllableObjectViewAPI
 
 
 class LocomotionRobot(BaseRobot):
diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
index 752447992..00f572fc1 100644
--- a/omnigibson/robots/manipulation_robot.py
+++ b/omnigibson/robots/manipulation_robot.py
@@ -28,7 +28,7 @@
 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 ControllableObjectViewAPI, GripperRigidContactAPI, RigidContactAPI, create_joint
+from omnigibson.utils.usd_utils import ControllableObjectViewAPI, GripperRigidContactAPI, create_joint
 
 # Create settings for this module
 m = create_module_macros(module_path=__file__)
@@ -1246,9 +1246,9 @@ def _establish_grasp_rigid(self, arm="default", ag_data=None, contact_pos=None):
                     break
 
         assert contact_pos is not None, (
-            f"contact_pos in self._find_gripper_contacts(return_contact_positions=True) is not found in "
-            f"self._find_gripper_contacts(return_contact_positions=False). This is likely because "
-            f"GripperRigidContactAPI.get_contact_pairs and get_contact_data return inconsistent results."
+            "contact_pos in self._find_gripper_contacts(return_contact_positions=True) is not found in "
+            "self._find_gripper_contacts(return_contact_positions=False). This is likely because "
+            "GripperRigidContactAPI.get_contact_pairs and get_contact_data return inconsistent results."
         )
 
         # Joint frame set at the contact point
diff --git a/omnigibson/robots/mobile_manipulation_robot.py b/omnigibson/robots/mobile_manipulation_robot.py
index 957abf26d..09ae8d7a2 100644
--- a/omnigibson/robots/mobile_manipulation_robot.py
+++ b/omnigibson/robots/mobile_manipulation_robot.py
@@ -1,7 +1,3 @@
-from abc import abstractmethod
-
-import torch as th
-
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 from omnigibson.utils.python_utils import assert_valid_key, classproperty
 
diff --git a/omnigibson/robots/r1.py b/omnigibson/robots/r1.py
index 3321192c4..f5a4232f0 100644
--- a/omnigibson/robots/r1.py
+++ b/omnigibson/robots/r1.py
@@ -1,19 +1,12 @@
-import os
 from functools import cached_property
 
 import torch as th
 
-import omnigibson as og
-import omnigibson.lazy as lazy
-import omnigibson.utils.transform_utils as T
-from omnigibson.action_primitives.curobo import CuRoboEmbodimentSelection
-from omnigibson.macros import create_module_macros, gm
 from omnigibson.robots.articulated_trunk_robot import ArticulatedTrunkRobot
 from omnigibson.robots.holonomic_base_robot import HolonomicBaseRobot
 from omnigibson.robots.manipulation_robot import GraspingPoint
 from omnigibson.robots.mobile_manipulation_robot import MobileManipulationRobot
-from omnigibson.utils.python_utils import assert_valid_key, classproperty
-from omnigibson.utils.usd_utils import ControllableObjectViewAPI
+from omnigibson.utils.python_utils import classproperty
 
 
 class R1(HolonomicBaseRobot, ArticulatedTrunkRobot, MobileManipulationRobot):
diff --git a/omnigibson/robots/robot_base.py b/omnigibson/robots/robot_base.py
index 969a8d0b1..1a925b8f5 100644
--- a/omnigibson/robots/robot_base.py
+++ b/omnigibson/robots/robot_base.py
@@ -112,7 +112,9 @@ def __init__(
         self._obs_modalities = (
             obs_modalities
             if obs_modalities == "all"
-            else {obs_modalities} if isinstance(obs_modalities, str) else set(obs_modalities)
+            else {obs_modalities}
+            if isinstance(obs_modalities, str)
+            else set(obs_modalities)
         )  # this will get updated later when we fill in our sensors
         self._proprio_obs = self.default_proprio_obs if proprio_obs == "default" else list(proprio_obs)
         self._sensor_config = sensor_config
diff --git a/omnigibson/robots/stretch.py b/omnigibson/robots/stretch.py
index 87ae373e3..8ba67b4ad 100644
--- a/omnigibson/robots/stretch.py
+++ b/omnigibson/robots/stretch.py
@@ -1,10 +1,8 @@
 import math
-import os
 from functools import cached_property
 
 import torch as th
 
-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
diff --git a/omnigibson/robots/tiago.py b/omnigibson/robots/tiago.py
index 2cfa8876a..0d3892538 100644
--- a/omnigibson/robots/tiago.py
+++ b/omnigibson/robots/tiago.py
@@ -1,22 +1,13 @@
-import math
-import os
 from functools import cached_property
-from typing import Literal
 
 import torch as th
 
-import omnigibson as og
-import omnigibson.lazy as lazy
-import omnigibson.utils.transform_utils as T
-from omnigibson.action_primitives.curobo import CuRoboEmbodimentSelection
-from omnigibson.macros import create_module_macros, gm
 from omnigibson.robots.active_camera_robot import ActiveCameraRobot
 from omnigibson.robots.articulated_trunk_robot import ArticulatedTrunkRobot
 from omnigibson.robots.holonomic_base_robot import HolonomicBaseRobot
 from omnigibson.robots.manipulation_robot import GraspingPoint
 from omnigibson.robots.untucked_arm_pose_robot import UntuckedArmPoseRobot
-from omnigibson.utils.python_utils import assert_valid_key, classproperty
-from omnigibson.utils.usd_utils import ControllableObjectViewAPI
+from omnigibson.utils.python_utils import classproperty
 
 
 class Tiago(HolonomicBaseRobot, ArticulatedTrunkRobot, UntuckedArmPoseRobot, ActiveCameraRobot):
diff --git a/omnigibson/robots/turtlebot.py b/omnigibson/robots/turtlebot.py
index b184147eb..4e524ed5d 100644
--- a/omnigibson/robots/turtlebot.py
+++ b/omnigibson/robots/turtlebot.py
@@ -1,9 +1,7 @@
-import os
 from functools import cached_property
 
 import torch as th
 
-from omnigibson.macros import gm
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
 
 
diff --git a/omnigibson/robots/two_wheel_robot.py b/omnigibson/robots/two_wheel_robot.py
index 3e5c64205..3ba55d2ae 100644
--- a/omnigibson/robots/two_wheel_robot.py
+++ b/omnigibson/robots/two_wheel_robot.py
@@ -120,9 +120,9 @@ def _default_controller_config(self):
         cfg = super()._default_controller_config
 
         # Add differential drive option to base
-        cfg["base"][
-            self._default_base_differential_drive_controller_config["name"]
-        ] = self._default_base_differential_drive_controller_config
+        cfg["base"][self._default_base_differential_drive_controller_config["name"]] = (
+            self._default_base_differential_drive_controller_config
+        )
 
         return cfg
 
diff --git a/omnigibson/robots/untucked_arm_pose_robot.py b/omnigibson/robots/untucked_arm_pose_robot.py
index 8acbb3d7c..4000969ce 100644
--- a/omnigibson/robots/untucked_arm_pose_robot.py
+++ b/omnigibson/robots/untucked_arm_pose_robot.py
@@ -1,5 +1,3 @@
-from abc import abstractmethod
-
 import torch as th
 
 from omnigibson.robots.mobile_manipulation_robot import MobileManipulationRobot
diff --git a/omnigibson/robots/vx300s.py b/omnigibson/robots/vx300s.py
index 624a4206c..ac55c2b74 100644
--- a/omnigibson/robots/vx300s.py
+++ b/omnigibson/robots/vx300s.py
@@ -1,10 +1,8 @@
 import math
-import os
 from functools import cached_property
 
 import torch as th
 
-from omnigibson.macros import gm
 from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
 from omnigibson.utils.transform_utils import euler2quat
 
diff --git a/omnigibson/scenes/__init__.py b/omnigibson/scenes/__init__.py
index 9eade9bd2..ecf9a802f 100644
--- a/omnigibson/scenes/__init__.py
+++ b/omnigibson/scenes/__init__.py
@@ -2,3 +2,11 @@
 from omnigibson.scenes.scene_base import REGISTERED_SCENES, Scene
 from omnigibson.scenes.static_traversable_scene import StaticTraversableScene
 from omnigibson.scenes.traversable_scene import TraversableScene
+
+__all__ = [
+    "InteractiveTraversableScene",
+    "REGISTERED_SCENES",
+    "Scene",
+    "StaticTraversableScene",
+    "TraversableScene",
+]
diff --git a/omnigibson/scenes/interactive_traversable_scene.py b/omnigibson/scenes/interactive_traversable_scene.py
index 78d44525f..4c22f3713 100644
--- a/omnigibson/scenes/interactive_traversable_scene.py
+++ b/omnigibson/scenes/interactive_traversable_scene.py
@@ -3,7 +3,6 @@
 import omnigibson as og
 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.utils.asset_utils import get_og_scene_path
 from omnigibson.utils.constants import STRUCTURE_CATEGORIES
diff --git a/omnigibson/scenes/scene_base.py b/omnigibson/scenes/scene_base.py
index acb76ec18..4a5c9bef8 100644
--- a/omnigibson/scenes/scene_base.py
+++ b/omnigibson/scenes/scene_base.py
@@ -4,18 +4,14 @@
 import shutil
 import tempfile
 from abc import ABC
-from itertools import combinations
 
 import torch as th
 
 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.objects.dataset_object import DatasetObject
-from omnigibson.objects.light_object import LightObject
+from omnigibson.macros import gm
 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 import Cloth
@@ -143,7 +139,7 @@ def object_registry(self):
         Returns:
             SerializableRegistry: Object registry containing all active standalone objects in the scene
         """
-        return self._registry(key="name", value=f"object_registry")
+        return self._registry(key="name", value="object_registry")
 
     @property
     def system_registry(self):
@@ -547,7 +543,7 @@ def _create_registry(self):
         # Add registry for objects
         registry.add(
             obj=SerializableRegistry(
-                name=f"object_registry",
+                name="object_registry",
                 class_types=BaseObject,
                 default_key="name",
                 hash_key="uuid",
@@ -628,7 +624,7 @@ def add_object(self, obj, register=True, _batched_call=False):
             ), f"Object with name {obj.name} already exists in scene!"
 
             # Load the object.
-            prim = obj.load(self)
+            obj.load(self)
 
             if register:
                 # If this object is fixed and is NOT an agent, disable collisions between the fixed links of the fixed objects
diff --git a/omnigibson/scenes/static_traversable_scene.py b/omnigibson/scenes/static_traversable_scene.py
index 79416ca97..c8753b6d7 100644
--- a/omnigibson/scenes/static_traversable_scene.py
+++ b/omnigibson/scenes/static_traversable_scene.py
@@ -74,7 +74,7 @@ def _load(self):
 
         scene_mesh_relative_path = "/scene"
         scene_mesh_absolute_path = scene_relative_prim_path_to_absolute(self, scene_mesh_relative_path)
-        scene_mesh_prim = add_asset_to_stage(
+        add_asset_to_stage(
             asset_path=filename,
             prim_path=scene_mesh_absolute_path,
         )
diff --git a/omnigibson/sensors/__init__.py b/omnigibson/sensors/__init__.py
index 7d58cac0f..c71c55d2a 100644
--- a/omnigibson/sensors/__init__.py
+++ b/omnigibson/sensors/__init__.py
@@ -74,3 +74,16 @@ def create_sensor(
     )
 
     return sensor
+
+
+__all__ = [
+    "ALL_SENSOR_MODALITIES",
+    "BaseSensor",
+    "BaseSensorNoise",
+    "create_sensor",
+    "DropoutSensorNoise",
+    "REGISTERED_SENSOR_NOISES",
+    "REGISTERED_SENSORS",
+    "ScanSensor",
+    "VisionSensor",
+]
diff --git a/omnigibson/sensors/scan_sensor.py b/omnigibson/sensors/scan_sensor.py
index 196619675..f786ef711 100644
--- a/omnigibson/sensors/scan_sensor.py
+++ b/omnigibson/sensors/scan_sensor.py
@@ -100,7 +100,7 @@ def __init__(
 
         # Sanity check modalities -- if we're using occupancy_grid without scan modality, raise an error
         if isinstance(modalities, Iterable) and not isinstance(modalities, str) and "occupancy_grid" in modalities:
-            assert "scan" in modalities, f"'scan' modality must be included in order to get occupancy_grid modality!"
+            assert "scan" in modalities, "'scan' modality must be included in order to get occupancy_grid modality!"
 
         # Run super method
         super().__init__(
diff --git a/omnigibson/sensors/vision_sensor.py b/omnigibson/sensors/vision_sensor.py
index e4902b68b..f0b0ec11e 100644
--- a/omnigibson/sensors/vision_sensor.py
+++ b/omnigibson/sensors/vision_sensor.py
@@ -1,5 +1,4 @@
 import math
-import time
 
 import gymnasium as gym
 import torch as th
@@ -312,13 +311,13 @@ def _preprocess_cpu_obs(self, obs, modality):
         # All segmentation modalities return uint32 numpy arrays on cpu, but PyTorch doesn't support it
         if "seg_" in modality:
             obs = obs.astype(NumpyTypes.INT32)
-        return th.from_numpy(obs) if not "bbox_" in modality else obs
+        return th.from_numpy(obs) if "bbox_" not in modality else obs
 
     def _preprocess_gpu_obs(self, obs, modality):
         # All segmentation modalities return uint32 warp arrays on gpu, but PyTorch doesn't support it
         if "seg_" in modality:
             obs = obs.view(lazy.warp.int32)
-        return lazy.warp.to_torch(obs) if not "bbox_" in modality else obs
+        return lazy.warp.to_torch(obs) if "bbox_" not in modality else obs
 
     def _remap_modality(self, modality, obs, info, raw_obs):
         id_to_labels = raw_obs["info"]["idToLabels"]
diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py
index ebfc01508..88acb9b64 100644
--- a/omnigibson/simulator.py
+++ b/omnigibson/simulator.py
@@ -1,11 +1,8 @@
-import atexit
 import contextlib
-import itertools
 import json
 import logging
 import math
 import os
-import re
 import shutil
 import signal
 import socket
@@ -96,7 +93,6 @@ 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
         import warnings
 
         try:
@@ -118,7 +114,7 @@ def _launch_app():
         os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
         import isaacsim  # noqa: F401
     except ImportError:
-        isaacsim = None
+        pass
 
     # First obtain the Isaac Sim version
     isaac_path = os.environ["ISAAC_PATH"]
@@ -235,7 +231,7 @@ def _launch_app():
 
     # TODO: Automated cleanup in callback doesn't work for some reason. Need to investigate.
     shutdown_stream = lazy.omni.kit.app.get_app().get_shutdown_event_stream()
-    sub = shutdown_stream.create_subscription_to_pop(og.cleanup, name="og_cleanup", order=0)
+    shutdown_stream.create_subscription_to_pop(og.cleanup, name="og_cleanup", order=0)
 
     # Loading Isaac Sim disables Ctrl+C, so we need to re-enable it
     signal.signal(signal.SIGINT, og.shutdown_handler)
@@ -451,7 +447,7 @@ def _set_physics_engine_settings(self):
             """
             Set the physics engine with specified settings
             """
-            assert self.is_stopped(), f"Cannot set simulator physics settings while simulation is playing!"
+            assert self.is_stopped(), "Cannot set simulator physics settings while simulation is playing!"
             self._physics_context.set_gravity(value=-self.gravity)
             # Also make sure we don't invert the collision group filter settings so that different collision groups by
             # default collide with each other, and modify settings for speed optimization
diff --git a/omnigibson/systems/__init__.py b/omnigibson/systems/__init__.py
index fcd7bf74d..fe8f42afc 100644
--- a/omnigibson/systems/__init__.py
+++ b/omnigibson/systems/__init__.py
@@ -1,2 +1,27 @@
-from omnigibson.systems.macro_particle_system import *
-from omnigibson.systems.micro_particle_system import *
+from omnigibson.systems.system_base import BaseSystem, PhysicalParticleSystem, VisualParticleSystem
+from omnigibson.systems.macro_particle_system import (
+    MacroParticleSystem,
+    MacroPhysicalParticleSystem,
+    MacroVisualParticleSystem,
+)
+from omnigibson.systems.micro_particle_system import (
+    Cloth,
+    FluidSystem,
+    GranularSystem,
+    MicroParticleSystem,
+    MicroPhysicalParticleSystem,
+)
+
+__all__ = [
+    "BaseSystem",
+    "Cloth",
+    "FluidSystem",
+    "GranularSystem",
+    "MacroParticleSystem",
+    "MacroPhysicalParticleSystem",
+    "MacroVisualParticleSystem",
+    "MicroParticleSystem",
+    "MicroPhysicalParticleSystem",
+    "PhysicalParticleSystem",
+    "VisualParticleSystem",
+]
diff --git a/omnigibson/systems/micro_particle_system.py b/omnigibson/systems/micro_particle_system.py
index a9322638a..cca211d6d 100644
--- a/omnigibson/systems/micro_particle_system.py
+++ b/omnigibson/systems/micro_particle_system.py
@@ -9,7 +9,6 @@
 
 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 VisualGeomPrim
 from omnigibson.prims.material_prim import MaterialPrim
@@ -57,8 +56,8 @@ def set_carb_settings_for_fluid_isosurface():
     min_frame_rate = 60
     # Make sure we have at least 60 FPS before setting "persistent/simulation/minFrameRate" to 60
     assert (
-        1 / og.sim.get_rendering_dt()
-    ) >= min_frame_rate, f"isosurface HQ rendering requires at least {min_frame_rate} FPS; consider increasing rendering_frequency of env_config to {min_frame_rate}."
+        (1 / og.sim.get_rendering_dt()) >= min_frame_rate
+    ), f"isosurface HQ rendering requires at least {min_frame_rate} FPS; consider increasing rendering_frequency of env_config to {min_frame_rate}."
 
     # Settings for Isosurface
     isregistry = lazy.carb.settings.acquire_settings_interface()
@@ -582,8 +581,8 @@ def _get_particle_material_template(self):
             prim_path=self.mat_path,
             name=self.mat_name,
             load_config={
-                "mdl_name": f"OmniPBR.mdl",
-                "mtl_name": f"OmniPBR",
+                "mdl_name": "OmniPBR.mdl",
+                "mtl_name": "OmniPBR",
             },
         )
 
diff --git a/omnigibson/systems/system_base.py b/omnigibson/systems/system_base.py
index 3e45e061a..bd867bbc3 100644
--- a/omnigibson/systems/system_base.py
+++ b/omnigibson/systems/system_base.py
@@ -10,7 +10,6 @@
 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 Serializable, get_uuid
-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
 from omnigibson.utils.usd_utils import scene_relative_prim_path_to_absolute
diff --git a/omnigibson/tasks/__init__.py b/omnigibson/tasks/__init__.py
index eaf8abc0d..591bb6b35 100644
--- a/omnigibson/tasks/__init__.py
+++ b/omnigibson/tasks/__init__.py
@@ -4,3 +4,12 @@
 from omnigibson.tasks.point_navigation_task import PointNavigationTask
 from omnigibson.tasks.point_reaching_task import PointReachingTask
 from omnigibson.tasks.task_base import REGISTERED_TASKS
+
+__all__ = [
+    "BehaviorTask",
+    "DummyTask",
+    "GraspTask",
+    "PointNavigationTask",
+    "PointReachingTask",
+    "REGISTERED_TASKS",
+]
diff --git a/omnigibson/tasks/behavior_task.py b/omnigibson/tasks/behavior_task.py
index 1f8d2c65d..706cf2ef0 100644
--- a/omnigibson/tasks/behavior_task.py
+++ b/omnigibson/tasks/behavior_task.py
@@ -17,7 +17,6 @@
 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.scenes.scene_base import Scene
 from omnigibson.scenes.traversable_scene import TraversableScene
 from omnigibson.tasks.task_base import BaseTask
@@ -393,7 +392,6 @@ def _get_obs(self, env):
         for (obj, obj_exist), obj_rpy, obj_rpy_cos, obj_rpy_sin in zip(
             objs_exist.items(), objs_rpy, objs_rpy_cos, objs_rpy_sin
         ):
-
             # TODO: May need to update checking here to USDObject? Or even baseobject?
             # TODO: How to handle systems as part of obs?
             if obj_exist:
diff --git a/omnigibson/tasks/dummy_task.py b/omnigibson/tasks/dummy_task.py
index 16a3fcd11..c74f2a997 100644
--- a/omnigibson/tasks/dummy_task.py
+++ b/omnigibson/tasks/dummy_task.py
@@ -1,7 +1,6 @@
 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
 
 
 class DummyTask(BaseTask):
diff --git a/omnigibson/tasks/grasp_task.py b/omnigibson/tasks/grasp_task.py
index 40198119c..5e71cefee 100644
--- a/omnigibson/tasks/grasp_task.py
+++ b/omnigibson/tasks/grasp_task.py
@@ -1,5 +1,4 @@
 import json
-import os
 import random
 
 import torch as th
@@ -10,18 +9,14 @@
     PlanningContext,
     StarterSemanticActionPrimitives,
 )
-from omnigibson.macros import gm
 from omnigibson.objects.object_base import REGISTERED_OBJECTS
 from omnigibson.reward_functions.grasp_reward import GraspReward
 from omnigibson.scenes.scene_base import Scene
 from omnigibson.tasks.task_base import BaseTask
-from omnigibson.termination_conditions.falling import Falling
-from omnigibson.termination_conditions.grasp_goal import GraspGoal
 from omnigibson.termination_conditions.timeout import Timeout
 from omnigibson.utils.grasping_planning_utils import get_grasp_poses_for_object_sticky
 from omnigibson.utils.motion_planning_utils import set_arm_and_detect_collision
 from omnigibson.utils.python_utils import classproperty, create_class_from_registry_and_config
-from omnigibson.utils.sim_utils import land_object
 
 MAX_JOINT_RANDOMIZATION_ATTEMPTS = 50
 
diff --git a/omnigibson/termination_conditions/__init__.py b/omnigibson/termination_conditions/__init__.py
index 5fb070d2a..0cd567f97 100644
--- a/omnigibson/termination_conditions/__init__.py
+++ b/omnigibson/termination_conditions/__init__.py
@@ -11,3 +11,17 @@
     BaseTerminationCondition,
 )
 from omnigibson.termination_conditions.timeout import Timeout
+
+__all__ = [
+    "BaseTerminationCondition",
+    "Falling",
+    "GraspGoal",
+    "MaxCollision",
+    "PointGoal",
+    "PredicateGoal",
+    "ReachingGoal",
+    "REGISTERED_FAILURE_CONDITIONS",
+    "REGISTERED_SUCCESS_CONDITIONS",
+    "REGISTERED_TERMINATION_CONDITIONS",
+    "Timeout",
+]
diff --git a/omnigibson/termination_conditions/grasp_goal.py b/omnigibson/termination_conditions/grasp_goal.py
index 3a5ae62f5..0eba3edef 100644
--- a/omnigibson/termination_conditions/grasp_goal.py
+++ b/omnigibson/termination_conditions/grasp_goal.py
@@ -1,4 +1,3 @@
-import omnigibson.utils.transform_utils as T
 from omnigibson.termination_conditions.termination_condition_base import SuccessCondition
 
 
diff --git a/omnigibson/transition_rules.py b/omnigibson/transition_rules.py
index ecdca6e87..1ff6fc12f 100644
--- a/omnigibson/transition_rules.py
+++ b/omnigibson/transition_rules.py
@@ -1,4 +1,3 @@
-import itertools
 import json
 import math
 import operator
@@ -14,17 +13,29 @@
 
 import omnigibson as og
 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.macros import create_module_macros
+from omnigibson.object_states import (
+    ContactParticles,
+    ContainedParticles,
+    Contains,
+    Cooked,
+    Covered,
+    Filled,
+    Heated,
+    HeatSourceOrSink,
+    MaxTemperature,
+    OnTop,
+    Open,
+    Saturated,
+    SlicerActive,
+    ToggledOn,
+)
 from omnigibson.objects.dataset_object import DatasetObject
 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, torch_delete
+from omnigibson.utils.python_utils import Registerable, classproperty, torch_delete
 from omnigibson.utils.registry_utils import Registry
-from omnigibson.utils.ui_utils import create_module_logger, disclaimer
+from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.usd_utils import RigidContactAPI
 
 # Create module logger
@@ -179,7 +190,6 @@ def execute_transition(self, added_obj_attrs, removed_objs):
 
         # Then add new objects
         if len(added_obj_attrs) > 0:
-            state = og.sim.dump_state()
             for added_obj_attr in added_obj_attrs:
                 new_obj = added_obj_attr.obj
                 self.scene.add_object(new_obj)
@@ -996,7 +1006,6 @@ def transition(self, object_candidates):
         objs_to_remove = []
 
         for diceable_obj in object_candidates["diceable"]:
-            obj_category = diceable_obj.category
             # We expect all diced particle systems to follow the naming convention (cooked__)diced__<category>
             system_name = "diced__" + diceable_obj.category.removeprefix("half_")
             if Cooked in diceable_obj.states and diceable_obj.states[Cooked].get_value():
@@ -1517,8 +1526,6 @@ def _is_recipe_executable(self, recipe, container, global_info, container_info):
         Returns:
             bool: True if the recipe is active, else False
         """
-        in_volume = container_info["in_volume"]
-
         # Verify the container category is valid
         if not self._validate_recipe_container_is_valid(recipe=recipe, container=container):
             return False
diff --git a/omnigibson/utils/asset_conversion_utils.py b/omnigibson/utils/asset_conversion_utils.py
index ed49e3130..2936f2814 100644
--- a/omnigibson/utils/asset_conversion_utils.py
+++ b/omnigibson/utils/asset_conversion_utils.py
@@ -671,7 +671,7 @@ def _process_meta_link(stage, obj_model, meta_link_type, meta_link_infos):
             continue
 
         # TODO: Remove this after this is fixed.
-        if type(mesh_info_list) == dict:
+        if type(mesh_info_list) is dict:
             keys = [str(x) for x in range(len(mesh_info_list))]
             assert set(mesh_info_list.keys()) == set(keys), "Unexpected keys"
             mesh_info_list = [mesh_info_list[k] for k in keys]
@@ -735,8 +735,9 @@ def _process_meta_link(stage, obj_model, meta_link_type, meta_link_infos):
             xform_prim = lazy.omni.isaac.core.prims.xform_prim.XFormPrim(prim_path=prim_path)
 
             # Get the mesh/light pose in the parent link frame
-            mesh_in_parent_link_pos, mesh_in_parent_link_orn = th.tensor(mesh_info["position"]), th.tensor(
-                mesh_info["orientation"]
+            mesh_in_parent_link_pos, mesh_in_parent_link_orn = (
+                th.tensor(mesh_info["position"]),
+                th.tensor(mesh_info["orientation"]),
             )
 
             # Get the mesh/light pose in the meta link frame
@@ -1259,7 +1260,7 @@ def _create_urdf_joint(
     # Create the initial joint
     jnt = ET.Element("joint", name=name, type=joint_type)
     # Create origin subtag
-    origin = ET.SubElement(
+    ET.SubElement(
         jnt,
         "origin",
         attrib={"rpy": _convert_to_xml_string(rpy), "xyz": _convert_to_xml_string(pos)},
@@ -1274,16 +1275,16 @@ def _create_urdf_joint(
     child = ET.SubElement(jnt, "child", link=child)
     # Add additional parameters if specified
     if axis is not None:
-        ax = ET.SubElement(jnt, "axis", xyz=_convert_to_xml_string(axis))
+        ET.SubElement(jnt, "axis", xyz=_convert_to_xml_string(axis))
     dynamic_params = {}
     if damping is not None:
         dynamic_params["damping"] = _convert_to_xml_string(damping)
     if friction is not None:
         dynamic_params["friction"] = _convert_to_xml_string(friction)
     if dynamic_params:
-        dp = ET.SubElement(jnt, "dynamics", **dynamic_params)
+        ET.SubElement(jnt, "dynamics", **dynamic_params)
     if limits is not None:
-        lim = ET.SubElement(jnt, "limit", lower=limits[0], upper=limits[1])
+        ET.SubElement(jnt, "limit", lower=limits[0], upper=limits[1])
 
     # Return this element
     return jnt
@@ -1465,7 +1466,7 @@ def _add_metalinks_to_urdf(urdf_path, obj_category, obj_model, dataset_root):
                                 ), f"Expected only one instance for meta_link {meta_link_name}_{ml_id}, but found {len(attrs_list)}"
 
                         # TODO: Remove this after this is fixed.
-                        if type(attrs_list) == dict:
+                        if type(attrs_list) is dict:
                             keys = [str(x) for x in range(len(attrs_list))]
                             assert set(attrs_list.keys()) == set(keys), "Unexpected keys"
                             attrs_list = [attrs_list[k] for k in keys]
@@ -1938,7 +1939,7 @@ def get_collision_approximation_for_urdf(
         generated_new_col = False
         idx = 0
         if link_name not in visual_only_links:
-            for vis in link.findall(f"visual"):
+            for vis in link.findall("visual"):
                 # Get origin
                 origin = vis.find("origin")
                 # Check all geometries
diff --git a/omnigibson/utils/asset_utils.py b/omnigibson/utils/asset_utils.py
index 903aa4f06..37a1d4169 100644
--- a/omnigibson/utils/asset_utils.py
+++ b/omnigibson/utils/asset_utils.py
@@ -11,7 +11,6 @@
 from urllib.request import urlretrieve
 
 import progressbar
-import yaml
 from cryptography.fernet import Fernet
 
 import omnigibson as og
diff --git a/omnigibson/utils/backend_utils.py b/omnigibson/utils/backend_utils.py
index 43c4303a6..dfdf8a32d 100644
--- a/omnigibson/utils/backend_utils.py
+++ b/omnigibson/utils/backend_utils.py
@@ -21,7 +21,6 @@ def add_compute_function(name, np_function, th_function):
 
 
 class _ComputeBackend:
-
     # Dictionary mapping custom externally-defined function name to function
     _custom_fcns = None
 
diff --git a/omnigibson/utils/bddl_utils.py b/omnigibson/utils/bddl_utils.py
index 7499bb100..829916ca7 100644
--- a/omnigibson/utils/bddl_utils.py
+++ b/omnigibson/utils/bddl_utils.py
@@ -1,4 +1,3 @@
-import json
 import os
 import random
 from collections import defaultdict
@@ -15,11 +14,10 @@
 
 import omnigibson as og
 from omnigibson import object_states
-from omnigibson.macros import create_module_macros, gm
+from omnigibson.macros import create_module_macros
 from omnigibson.object_states.factory import _KINEMATIC_STATE_SET, get_system_states
 from omnigibson.object_states.object_state_base import AbsoluteObjectState, RelativeObjectState
 from omnigibson.objects.dataset_object import DatasetObject
-from omnigibson.robots import BaseRobot
 from omnigibson.utils.asset_utils import (
     get_all_object_categories,
     get_all_object_category_models_with_abilities,
@@ -96,7 +94,7 @@
 
 BAD_CLOTH_MODELS = {
     "bandana": {"wbhliu"},
-    "curtain": {"ohvomi"},
+    "curtain": {"ohvomi", "shbakk"},
     "cardigan": {"itrkhr"},
     "sweatshirt": {"nowqqh"},
     "jeans": {"nmvvil", "pvzxyp"},
@@ -115,7 +113,6 @@
     "scarf": {"kclcrj"},
     "sock": {"vpafgj"},
     "tank_top": {"fzldgi"},
-    "curtain": {"shbakk"},
 }
 
 
diff --git a/omnigibson/utils/constants.py b/omnigibson/utils/constants.py
index 4cd7b8ab8..1bfcf539d 100644
--- a/omnigibson/utils/constants.py
+++ b/omnigibson/utils/constants.py
@@ -3,14 +3,11 @@
 """
 
 import hashlib
-import os
 from enum import Enum, IntEnum
 from functools import cache
 
 import torch as th
 
-import omnigibson as og
-from omnigibson.macros import gm
 from omnigibson.utils.asset_utils import get_all_object_categories, get_all_system_categories
 
 MAX_INSTANCE_COUNT = th.iinfo(th.int32).max
diff --git a/omnigibson/utils/deprecated_utils.py b/omnigibson/utils/deprecated_utils.py
index 740407476..4878b4010 100644
--- a/omnigibson/utils/deprecated_utils.py
+++ b/omnigibson/utils/deprecated_utils.py
@@ -17,14 +17,14 @@
 from omni.isaac.core.articulations import ArticulationView as _ArticulationView
 from omni.isaac.core.prims import RigidPrimView as _RigidPrimView
 from omni.isaac.core.prims import XFormPrimView as _XFormPrimView
-from omni.isaac.core.utils.prims import get_prim_at_path, get_prim_parent
+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
+from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics
 from scipy.spatial.transform import Rotation as R
 
 DEG2RAD = math.pi / 180.0
diff --git a/omnigibson/utils/grasping_planning_utils.py b/omnigibson/utils/grasping_planning_utils.py
index 728303132..e36784f66 100644
--- a/omnigibson/utils/grasping_planning_utils.py
+++ b/omnigibson/utils/grasping_planning_utils.py
@@ -7,7 +7,7 @@
 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 JointAxis, JointType
+from omnigibson.utils.constants import JointType
 
 m = create_module_macros(module_path=__file__)
 
diff --git a/omnigibson/utils/motion_planning_utils.py b/omnigibson/utils/motion_planning_utils.py
index 3184a71d2..cf1c47729 100644
--- a/omnigibson/utils/motion_planning_utils.py
+++ b/omnigibson/utils/motion_planning_utils.py
@@ -7,7 +7,6 @@
 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
 from omnigibson.utils.control_utils import IKSolver
 from omnigibson.utils.sim_utils import prim_paths_to_rigid_prims
 from omnigibson.utils.ui_utils import create_module_logger
@@ -55,7 +54,6 @@ def plan_base_motion(
     from ompl import geometric as ompl_geo
 
     class CustomMotionValidator(ob.MotionValidator):
-
         def __init__(self, si, space):
             super(CustomMotionValidator, self).__init__(si)
             self.si = si
diff --git a/omnigibson/utils/object_utils.py b/omnigibson/utils/object_utils.py
index 296cd6252..85b5dee7b 100644
--- a/omnigibson/utils/object_utils.py
+++ b/omnigibson/utils/object_utils.py
@@ -119,7 +119,7 @@ def compute_obj_kinematic_metadata(obj):
     """
     assert obj.scene is not None
     assert og.sim.floor_plane is not None
-    assert type(obj.scene) == Scene, "An empty scene must be used in order to compute kinematic metadata!"
+    assert type(obj.scene) is Scene, "An empty scene must be used in order to compute kinematic metadata!"
     assert th.all(obj.scale == 1.0), "Object must have scale [1, 1, 1] in order to compute kinematic metadata!"
     og.sim.stop()
 
diff --git a/omnigibson/utils/physx_utils.py b/omnigibson/utils/physx_utils.py
index ef2503cc2..48ce2157a 100644
--- a/omnigibson/utils/physx_utils.py
+++ b/omnigibson/utils/physx_utils.py
@@ -2,7 +2,7 @@
 
 import omnigibson as og
 import omnigibson.lazy as lazy
-from omnigibson.macros import create_module_macros, gm
+from omnigibson.macros import create_module_macros
 from omnigibson.utils.ui_utils import suppress_omni_log
 
 # Create settings for this module
diff --git a/omnigibson/utils/profiling_utils.py b/omnigibson/utils/profiling_utils.py
index d3433cc80..956f6c9aa 100644
--- a/omnigibson/utils/profiling_utils.py
+++ b/omnigibson/utils/profiling_utils.py
@@ -9,7 +9,7 @@
 
 
 # Method copied from: https://github.com/wandb/wandb/blob/main/wandb/sdk/internal/system/assets/gpu.py
-def gpu_in_use_by_this_process(gpu_handle: "GPUHandle", pid: int) -> bool:
+def gpu_in_use_by_this_process(gpu_handle, pid: int) -> bool:
     if psutil is None:
         return False
 
@@ -26,7 +26,8 @@ def gpu_in_use_by_this_process(gpu_handle: "GPUHandle", pid: int) -> bool:
 
     compute_pids = {process.pid for process in pynvml.nvmlDeviceGetComputeRunningProcesses(gpu_handle)}  # type: ignore
     graphics_pids = {
-        process.pid for process in pynvml.nvmlDeviceGetGraphicsRunningProcesses(gpu_handle)  # type: ignore
+        process.pid
+        for process in pynvml.nvmlDeviceGetGraphicsRunningProcesses(gpu_handle)  # type: ignore
     }
 
     pids_using_device = compute_pids | graphics_pids
diff --git a/omnigibson/utils/pynvml_utils.py b/omnigibson/utils/pynvml_utils.py
index f211aae80..2aef49389 100644
--- a/omnigibson/utils/pynvml_utils.py
+++ b/omnigibson/utils/pynvml_utils.py
@@ -48,7 +48,6 @@
 # Python bindings for the NVML library
 ##
 from ctypes import *
-from ctypes.util import find_library
 from functools import wraps
 
 ## C Type mappings ##
@@ -1831,14 +1830,14 @@ def _LoadNvmlLibrary():
                     for dll_path in search_paths:
                         try:
                             nvmlLib = CDLL(dll_path)
-                        except OSError as ose:
+                        except OSError:
                             continue
                         break
                 else:
                     # assume linux
                     try:
                         nvmlLib = CDLL("libnvidia-ml.so.1")
-                    except OSError as ose:
+                    except OSError:
                         _nvmlCheckReturn(NVML_ERROR_LIBRARY_NOT_FOUND)
                 if nvmlLib is None:
                     _nvmlCheckReturn(NVML_ERROR_LIBRARY_NOT_FOUND)
diff --git a/omnigibson/utils/python_utils.py b/omnigibson/utils/python_utils.py
index 9f1e96bbe..a999bbfa2 100644
--- a/omnigibson/utils/python_utils.py
+++ b/omnigibson/utils/python_utils.py
@@ -3,11 +3,10 @@
 """
 
 import inspect
-import re
 from abc import ABCMeta
 from collections.abc import Iterable
 from copy import deepcopy
-from functools import cache, wraps
+from functools import wraps
 from hashlib import md5
 from importlib import import_module
 
@@ -20,7 +19,6 @@
 
 
 class classproperty:
-
     def __init__(self, fget):
         self.fget = fget
 
diff --git a/omnigibson/utils/registry_utils.py b/omnigibson/utils/registry_utils.py
index ef0c88bf3..8a890b712 100644
--- a/omnigibson/utils/registry_utils.py
+++ b/omnigibson/utils/registry_utils.py
@@ -386,7 +386,7 @@ def add(self, obj):
         validate_class = issubclass if isclass(obj) else isinstance
         assert any(
             [validate_class(obj, class_type) for class_type in (Serializable, SerializableNonInstance)]
-        ), f"Added object must be either an instance or subclass of Serializable or SerializableNonInstance!"
+        ), "Added object must be either an instance or subclass of Serializable or SerializableNonInstance!"
         # Run super like normal
         super().add(obj=obj)
 
diff --git a/omnigibson/utils/render_utils.py b/omnigibson/utils/render_utils.py
index 5980dabdd..1dd6735d6 100644
--- a/omnigibson/utils/render_utils.py
+++ b/omnigibson/utils/render_utils.py
@@ -27,8 +27,8 @@ def make_glass(prim):
         visual_meshes = [prim]
     else:
         raise ValueError(
-            f"Inputted prim must an instance of EntityPrim, RigidPrim, or VisualGeomPrim "
-            f"in order to be converted into glass!"
+            "Inputted prim must an instance of EntityPrim, RigidPrim, or VisualGeomPrim "
+            "in order to be converted into glass!"
         )
 
     # Grab the glass material prim; if it doesn't exist, we create it on the fly
diff --git a/omnigibson/utils/sim_utils.py b/omnigibson/utils/sim_utils.py
index 1ccb9c4bf..d717b7d48 100644
--- a/omnigibson/utils/sim_utils.py
+++ b/omnigibson/utils/sim_utils.py
@@ -163,7 +163,6 @@ def get_contacts(inp_prims):
 
     # Only run the following (expensive) code if we are actively using filtering criteria
     if should_check_collisions or should_filter_collisions:
-
         # First filter out unnecessary collisions
         if should_filter_collisions:
             # First filter pass, remove the intersection of the main contacts and the contacts from the exclusion set minus
diff --git a/omnigibson/utils/teleop_utils.py b/omnigibson/utils/teleop_utils.py
index 9a48eec31..9cac80a91 100644
--- a/omnigibson/utils/teleop_utils.py
+++ b/omnigibson/utils/teleop_utils.py
@@ -88,8 +88,9 @@ def get_action(self, robot_obs: TeleopObservation) -> th.Tensor:
         # optionally update control marker
         if self.show_control_marker:
             for arm_name in self.control_markers:
-                delta_pos, delta_orn = self.teleop_action[arm_name][:3], T.euler2quat(
-                    th.tensor(self.teleop_action[arm_name][3:6])
+                delta_pos, delta_orn = (
+                    self.teleop_action[arm_name][:3],
+                    T.euler2quat(th.tensor(self.teleop_action[arm_name][3:6])),
                 )
                 rel_target_pos = robot_obs[arm_name][:3] + delta_pos
                 rel_target_orn = T.quat_multiply(delta_orn, robot_obs[arm_name][3:7])
diff --git a/omnigibson/utils/transform_utils.py b/omnigibson/utils/transform_utils.py
index a89a25491..6db9445bf 100644
--- a/omnigibson/utils/transform_utils.py
+++ b/omnigibson/utils/transform_utils.py
@@ -7,7 +7,7 @@
 """
 
 import math
-from typing import List, Optional, Tuple
+from typing import Optional, Tuple
 
 import torch
 
@@ -575,7 +575,6 @@ def euler2quat(euler: torch.Tensor) -> torch.Tensor:
 
 @torch.compile
 def quat2euler(q):
-
     single_dim = q.dim() == 1
 
     if single_dim:
diff --git a/omnigibson/utils/transform_utils_np.py b/omnigibson/utils/transform_utils_np.py
index ddf2ac0c3..b76b2606c 100644
--- a/omnigibson/utils/transform_utils_np.py
+++ b/omnigibson/utils/transform_utils_np.py
@@ -82,12 +82,12 @@ def unit_vector(data, axis=None, out=None):
 
         >>> v0 = numpy.random.rand(5, 4, 3)
         >>> v1 = unit_vector(v0, axis=-1)
-        >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2)
+        >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0 * v0, axis=2)), 2)
         >>> numpy.allclose(v1, v2)
         True
 
         >>> v1 = unit_vector(v0, axis=1)
-        >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1)
+        >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0 * v0, axis=1)), 1)
         >>> numpy.allclose(v1, v2)
         True
 
@@ -840,11 +840,11 @@ def rotation_matrix(angle, direction, point=None):
     Returns matrix to rotate about axis defined by point and direction.
 
     E.g.:
-        >>> angle = (random.random() - 0.5) * (2*math.pi)
+        >>> angle = (random.random() - 0.5) * (2 * math.pi)
         >>> direc = numpy.random.random(3) - 0.5
         >>> point = numpy.random.random(3) - 0.5
         >>> R0 = rotation_matrix(angle, direc, point)
-        >>> R1 = rotation_matrix(angle-2*math.pi, direc, point)
+        >>> R1 = rotation_matrix(angle - 2 * math.pi, direc, point)
         >>> is_same_transform(R0, R1)
         True
 
@@ -854,11 +854,10 @@ def rotation_matrix(angle, direction, point=None):
         True
 
         >>> I = numpy.identity(4, numpy.float32)
-        >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc))
+        >>> numpy.allclose(I, rotation_matrix(math.pi * 2, direc))
         True
 
-        >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2,
-        ...                                                direc, point)))
+        >>> numpy.allclose(2.0, numpy.trace(rotation_matrix(math.pi / 2, direc, point)))
         True
 
     Args:
diff --git a/omnigibson/utils/ui_utils.py b/omnigibson/utils/ui_utils.py
index 4be556d63..53ef44289 100644
--- a/omnigibson/utils/ui_utils.py
+++ b/omnigibson/utils/ui_utils.py
@@ -355,13 +355,13 @@ def print_info(self):
         print("*" * 40)
         print("CameraMover! Commands:")
         print()
-        print(f"\t Right Click + Drag: Rotate camera")
-        print(f"\t W / S : Move camera forward / backward")
-        print(f"\t A / D : Move camera left / right")
-        print(f"\t T / G : Move camera up / down")
-        print(f"\t 9 / 0 : Increase / decrease the lights")
-        print(f"\t P : Print current camera pose")
-        print(f"\t O: Save the current camera view as an image")
+        print("\t Right Click + Drag: Rotate camera")
+        print("\t W / S : Move camera forward / backward")
+        print("\t A / D : Move camera left / right")
+        print("\t T / G : Move camera up / down")
+        print("\t 9 / 0 : Increase / decrease the lights")
+        print("\t P : Print current camera pose")
+        print("\t O: Save the current camera view as an image")
 
     def print_cam_pose(self):
         """
@@ -550,7 +550,6 @@ def _sub_keyboard_event(self, event, *args, **kwargs):
             event.type == lazy.carb.input.KeyboardEventType.KEY_PRESS
             or event.type == lazy.carb.input.KeyboardEventType.KEY_REPEAT
         ):
-
             if event.type == lazy.carb.input.KeyboardEventType.KEY_PRESS and event.input in self.input_to_function:
                 self.input_to_function[event.input]()
 
@@ -631,7 +630,7 @@ def register_keyboard_handler(self):
         appwindow = lazy.omni.appwindow.get_default_app_window()
         input_interface = lazy.carb.input.acquire_input_interface()
         keyboard = appwindow.get_keyboard()
-        sub_keyboard = input_interface.subscribe_to_keyboard_events(keyboard, self.keyboard_event_handler)
+        input_interface.subscribe_to_keyboard_events(keyboard, self.keyboard_event_handler)
 
     def register_custom_keymapping(self, key, description, callback_fn):
         """
@@ -763,7 +762,6 @@ def keyboard_event_handler(self, event, *args, **kwargs):
             event.type == lazy.carb.input.KeyboardEventType.KEY_PRESS
             or event.type == lazy.carb.input.KeyboardEventType.KEY_REPEAT
         ):
-
             # Handle special cases
             if (
                 event.input in {lazy.carb.input.KeyboardInput.KEY_1, lazy.carb.input.KeyboardInput.KEY_2}
@@ -883,7 +881,6 @@ def get_teleop_action(self):
 
         # Possibly set the persistent gripper action
         if len(self.binary_grippers) > 0 and self.keypress_mapping[lazy.carb.input.KeyboardInput.T]["val"] is not None:
-
             for i, binary_gripper in enumerate(self.binary_grippers):
                 # Possibly update the stored value if the toggle gripper key has been pressed and
                 # it's the active gripper being controlled
@@ -1011,9 +1008,7 @@ def draw_line(start, end, color=(1.0, 0.0, 0.0, 1.0), size=1.0):
     """
     Draws a single line between two points.
     """
-    from omni.isaac.debug_draw import _debug_draw
-
-    draw = _debug_draw.acquire_debug_draw_interface()
+    draw = lazy.omni.isaac.debug_draw._debug_draw.acquire_debug_draw_interface()
     draw.draw_lines([start], [end], [color], [size])
 
 
@@ -1039,7 +1034,5 @@ def clear_debug_drawing():
     """
     Clears all debug drawings.
     """
-    from omni.isaac.debug_draw import _debug_draw
-
-    draw = _debug_draw.acquire_debug_draw_interface()
+    draw = lazy.omni.isaac.debug_draw._debug_draw.acquire_debug_draw_interface()
     draw.clear_lines()
diff --git a/omnigibson/utils/urdfpy_utils.py b/omnigibson/utils/urdfpy_utils.py
index f65199172..cc17b10c1 100644
--- a/omnigibson/utils/urdfpy_utils.py
+++ b/omnigibson/utils/urdfpy_utils.py
@@ -130,8 +130,9 @@ def _parse_simple_elements(cls, node, path):
                 vs = node.findall(t._TAG)
                 if len(vs) == 0 and r:
                     raise ValueError(
-                        "Missing required subelement(s) of type {} when "
-                        "parsing an object of type {}".format(t.__name__, cls.__name__)
+                        "Missing required subelement(s) of type {} when " "parsing an object of type {}".format(
+                            t.__name__, cls.__name__
+                        )
                     )
                 v = [t._from_xml(n, path) for n in vs]
             kwargs[a] = v
@@ -3323,20 +3324,20 @@ def animate(self, cfg_trajectory=None, loop_time=3.0, use_collision=False):
         You can run this without specifying a ``cfg_trajectory`` to view
         the full articulation of the URDF
 
-        >>> robot = URDF.load('ur5.urdf')
+        >>> robot = URDF.load("ur5.urdf")
         >>> robot.animate()
 
         .. image:: /_static/ur5.gif
 
-        >>> ct = {'shoulder_pan_joint': [0.0, 2 * np.pi]}
+        >>> ct = {"shoulder_pan_joint": [0.0, 2 * np.pi]}
         >>> robot.animate(cfg_trajectory=ct)
 
         .. image:: /_static/ur5_shoulder.gif
 
         >>> ct = {
-        ...    'shoulder_pan_joint' : [-np.pi / 4, np.pi / 4],
-        ...    'shoulder_lift_joint' : [0.0, -np.pi / 2.0],
-        ...    'elbow_joint' : [0.0, np.pi / 2.0]
+        ...     "shoulder_pan_joint": [-np.pi / 4, np.pi / 4],
+        ...     "shoulder_lift_joint": [0.0, -np.pi / 2.0],
+        ...     "elbow_joint": [0.0, np.pi / 2.0],
         ... }
         >>> robot.animate(cfg_trajectory=ct)
 
diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py
index 41c847fb7..ac7e568b8 100644
--- a/omnigibson/utils/usd_utils.py
+++ b/omnigibson/utils/usd_utils.py
@@ -13,6 +13,8 @@
 import omnigibson as og
 import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
+import omnigibson.utils.transform_utils as TT
+import omnigibson.utils.transform_utils_np as NT
 from omnigibson.macros import gm
 from omnigibson.utils.backend_utils import _compute_backend as cb
 from omnigibson.utils.backend_utils import add_compute_function
@@ -128,7 +130,7 @@ def create_joint(
     # Make sure at least body0 or body1 is specified
     assert (
         body0 is not None or body1 is not None
-    ), f"At least either body0 or body1 must be specified when creating a joint!"
+    ), "At least either body0 or body1 must be specified when creating a joint!"
 
     # Create the joint
     joint = getattr(lazy.pxr.UsdPhysics, joint_type).Define(og.sim.stage, prim_path)
@@ -1723,7 +1725,7 @@ def add_asset_to_stage(asset_path, prim_path):
     """
     # Make sure this is actually a supported asset type
     asset_type = asset_path.split(".")[-1]
-    assert asset_type in {"usd", "usda", "obj"}, f"Cannot load a non-USD or non-OBJ file as a USD prim!"
+    assert asset_type in {"usd", "usda", "obj"}, "Cannot load a non-USD or non-OBJ file as a USD prim!"
 
     # Make sure the path exists
     assert os.path.exists(asset_path), f"Cannot load {asset_type.upper()} file {asset_path} because it does not exist!"
@@ -1876,9 +1878,6 @@ def delete_or_deactivate_prim(prim_path):
     return True
 
 
-import omnigibson.utils.transform_utils as TT
-
-
 @th.compile
 def _compute_relative_poses_torch(
     idx: int,
@@ -1906,9 +1905,6 @@ def _compute_relative_poses_torch(
     return rel_poses
 
 
-import omnigibson.utils.transform_utils_np as NT
-
-
 @jit(nopython=True)
 def _compute_relative_poses_numpy(idx, n_links, all_tfs, base_pose):
     tfs = np.zeros((n_links, 4, 4), dtype=np.float32)
diff --git a/omnigibson/utils/vision_utils.py b/omnigibson/utils/vision_utils.py
index 303688fab..c3fe5bb9f 100644
--- a/omnigibson/utils/vision_utils.py
+++ b/omnigibson/utils/vision_utils.py
@@ -3,9 +3,6 @@
 import torch as th
 from PIL import Image, ImageDraw
 
-import omnigibson as og
-from omnigibson.utils.constants import semantic_class_name_to_id
-
 try:
     import accimage
 except ImportError:
@@ -139,7 +136,7 @@ def remap(self, old_mapping, new_mapping, image, image_keys=None):
         for key in th.unique(image) if image_keys is None else image_keys:
             if key.item() not in old_mapping.keys():
                 new_key = next((k for k, v in new_mapping.items() if v == "unlabelled"), None)
-                assert new_key is not None, f"Could not find a new key for label 'unlabelled' in new_mapping!"
+                assert new_key is not None, "Could not find a new key for label 'unlabelled' in new_mapping!"
                 self.key_array[key] = new_key
 
         # Apply remapping
diff --git a/pyproject.toml b/pyproject.toml
index 9333e2f86..709cc9b7c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,18 +1,3 @@
-[tool.black]
-line-length = 120
-target-version = ['py310']
-force-exclude = 'omnigibson/(data|external)'
-
-[tool.isort]
-profile = "black"
-line_length = 120
-py_version = '310'
-filter_files = true
-extend_skip_glob = [
-    'omnigibson/data/*',
-    'omnigibson/external/*'
-]
-
 [tool.pyright]
 exclude = [
   'omnigibson/data',
@@ -25,5 +10,29 @@ testpaths = [
     "tests",
 ]
 
-[tool.coverage.run]
-omit = ["omnigibson/external/*"]
+[tool.ruff]
+# Exclude a variety of commonly ignored directories.
+extend-exclude = ["omnigibson/utils/pynvml_utils.py", "omnigibson/data"]
+
+# Same as Black.
+line-length = 120
+indent-width = 4
+
+# Assume Python 3.10
+target-version = "py310"
+
+[tool.ruff.lint]
+# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`)  codes by default.
+# Unlike Flake8, Ruff doesn't enable pycodestyle warnings (`W`) or
+# McCabe complexity (`C901`) by default.
+select = ["E4", "E7", "E9", "F"]
+ignore = [
+    "E731",  # lambda expressions assigned to variables. this keeps some files short.
+    "E722",  # bare except. We don't want to dig deep to find what exception is being raised.
+    "E741",  # ambiguous variable name for the character 'l', but we use it a lot for length.
+]
+
+[tool.ruff.format]
+# Enable auto-formatting of code examples in docstrings. Markdown,
+# reStructuredText code/literal blocks and doctests are all supported.
+docstring-code-format = true
diff --git a/tests/create_tests_of_examples.py b/tests/create_tests_of_examples.py
index 6ba35beb1..5f22f754f 100644
--- a/tests/create_tests_of_examples.py
+++ b/tests/create_tests_of_examples.py
@@ -1,4 +1,3 @@
-import importlib
 import json
 import os
 import pkgutil
diff --git a/tests/test_controllers.py b/tests/test_controllers.py
index a25c9d1ba..00bc960ed 100644
--- a/tests/test_controllers.py
+++ b/tests/test_controllers.py
@@ -1,5 +1,4 @@
 import numpy as np
-import pytest
 import torch as th
 
 import omnigibson as og
diff --git a/tests/test_curobo.py b/tests/test_curobo.py
index caf230df4..7ba94c89e 100644
--- a/tests/test_curobo.py
+++ b/tests/test_curobo.py
@@ -8,8 +8,7 @@
 import omnigibson as og
 import omnigibson.utils.transform_utils as T
 from omnigibson.action_primitives.curobo import CuRoboMotionGenerator
-from omnigibson.macros import gm, macros
-from omnigibson.object_states import Touching
+from omnigibson.macros import gm
 from omnigibson.robots.holonomic_base_robot import HolonomicBaseRobot
 from omnigibson.robots.locomotion_robot import LocomotionRobot
 
diff --git a/tests/test_data_collection.py b/tests/test_data_collection.py
index ebbe87bb5..30625b3b1 100644
--- a/tests/test_data_collection.py
+++ b/tests/test_data_collection.py
@@ -1,13 +1,11 @@
 import tempfile
 
-import pytest
 import torch as th
 
 import omnigibson as og
 from omnigibson.envs import DataCollectionWrapper, DataPlaybackWrapper
 from omnigibson.macros import gm
 from omnigibson.objects import DatasetObject
-from omnigibson.utils.ui_utils import create_module_logger
 
 
 def test_data_collect_and_playback():
@@ -117,7 +115,7 @@ def test_data_collect_and_playback():
         {
             "sensor_type": "VisionSensor",
             "name": "external_sensor0",
-            "relative_prim_path": f"/robot0/root_link/external_sensor0",
+            "relative_prim_path": "/robot0/root_link/external_sensor0",
             "modalities": ["rgb"],
             "sensor_kwargs": {
                 "image_height": 16,
diff --git a/tests/test_dump_load_states.py b/tests/test_dump_load_states.py
index c31f6c7eb..702713579 100644
--- a/tests/test_dump_load_states.py
+++ b/tests/test_dump_load_states.py
@@ -1,9 +1,11 @@
-import pytest
+import tempfile
+
+import torch as th
 from utils import SYSTEM_EXAMPLES, og_test
 
 import omnigibson as og
 from omnigibson.object_states import Covered
-from omnigibson.systems import *
+from omnigibson.systems import VisualParticleSystem
 
 
 @og_test
diff --git a/tests/test_envs.py b/tests/test_envs.py
index 33b56a1a8..05eb49a81 100644
--- a/tests/test_envs.py
+++ b/tests/test_envs.py
@@ -1,5 +1,3 @@
-import pytest
-
 import omnigibson as og
 from omnigibson.macros import gm
 
diff --git a/tests/test_multiple_envs.py b/tests/test_multiple_envs.py
index 5ee8b6d1b..8bb6dc348 100644
--- a/tests/test_multiple_envs.py
+++ b/tests/test_multiple_envs.py
@@ -2,7 +2,6 @@
 import torch as th
 
 import omnigibson as og
-import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
 from omnigibson import object_states
 from omnigibson.macros import gm
diff --git a/tests/test_object_removal.py b/tests/test_object_removal.py
index bce9c889f..35574f4ef 100644
--- a/tests/test_object_removal.py
+++ b/tests/test_object_removal.py
@@ -3,7 +3,6 @@
 
 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 82cdd1816..6b9d8691a 100644
--- a/tests/test_object_states.py
+++ b/tests/test_object_states.py
@@ -7,7 +7,43 @@
 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.object_states import (
+    AABB,
+    AttachedTo,
+    Burnt,
+    ContactBodies,
+    ContactParticles,
+    Contains,
+    Cooked,
+    Covered,
+    Draped,
+    Filled,
+    Folded,
+    Frozen,
+    Heated,
+    HeatSourceOrSink,
+    HorizontalAdjacency,
+    Inside,
+    Joint,
+    MaxTemperature,
+    NextTo,
+    OnFire,
+    OnTop,
+    Open,
+    Overlaid,
+    ParticleApplier,
+    ParticleRemover,
+    ParticleSink,
+    ParticleSource,
+    Pose,
+    Saturated,
+    Temperature,
+    ToggledOn,
+    Touching,
+    Under,
+    Unfolded,
+    VerticalAdjacency,
+)
 from omnigibson.systems import VisualParticleSystem
 from omnigibson.utils.constants import PrimType
 from omnigibson.utils.physx_utils import apply_force_at_pos
diff --git a/tests/test_primitives.py b/tests/test_primitives.py
index f77827c9d..75c799ad2 100644
--- a/tests/test_primitives.py
+++ b/tests/test_primitives.py
@@ -7,7 +7,6 @@
 from pytest_rerunfailures import pytest
 
 import omnigibson as og
-import omnigibson.utils.transform_utils as T
 from omnigibson.action_primitives.starter_semantic_action_primitives import (
     StarterSemanticActionPrimitives,
     StarterSemanticActionPrimitiveSet,
diff --git a/tests/test_robot_states_flatcache.py b/tests/test_robot_states_flatcache.py
index 77ff4af8a..0242ad697 100644
--- a/tests/test_robot_states_flatcache.py
+++ b/tests/test_robot_states_flatcache.py
@@ -4,7 +4,7 @@
 import omnigibson.lazy as lazy
 from omnigibson.action_primitives.starter_semantic_action_primitives import StarterSemanticActionPrimitives
 from omnigibson.macros import gm
-from omnigibson.robots import *
+from omnigibson.robots import REGISTERED_ROBOTS, Fetch, LocomotionRobot, ManipulationRobot, Stretch
 from omnigibson.sensors import VisionSensor
 from omnigibson.utils.transform_utils import mat2pose, pose2mat, quaternions_close, relative_pose_transform
 from omnigibson.utils.usd_utils import PoseAPI
@@ -145,7 +145,6 @@ def test_robot_load_drive():
 
     # Iterate over all robots and test their motion
     for robot_name, robot_cls in REGISTERED_ROBOTS.items():
-
         if robot_name in ["FrankaMounted", "Stretch"]:
             # TODO: skipping FrankaMounted and Stretch for now because CI doesn't have the required assets
             continue
@@ -214,7 +213,6 @@ def test_robot_load_drive():
 
 
 def test_grasping_mode():
-
     if og.sim is None:
         # Set global flags
         gm.ENABLE_FLATCACHE = True
@@ -227,7 +225,7 @@ def test_grasping_mode():
     objects_cfg.append(
         dict(
             type="DatasetObject",
-            name=f"table",
+            name="table",
             category="breakfast_table",
             model="lcsizg",
             bounding_box=[0.5, 0.5, 0.8],
@@ -238,7 +236,7 @@ def test_grasping_mode():
     objects_cfg.append(
         dict(
             type="PrimitiveObject",
-            name=f"box",
+            name="box",
             primitive_type="Cube",
             rgba=[1.0, 0, 0, 1.0],
             size=0.05,
@@ -269,7 +267,7 @@ def object_is_in_hand(robot, obj):
         robot = Fetch(
             name="Fetch",
             obs_modalities=[],
-            controller_config={f"arm_0": {"name": "InverseKinematicsController", "mode": "pose_absolute_ori"}},
+            controller_config={"arm_0": {"name": "InverseKinematicsController", "mode": "pose_absolute_ori"}},
             grasping_mode=grasping_mode,
         )
         env.scene.add_object(robot)
diff --git a/tests/test_scene_graph.py b/tests/test_scene_graph.py
index a6cf6d458..0a15b11fd 100644
--- a/tests/test_scene_graph.py
+++ b/tests/test_scene_graph.py
@@ -11,7 +11,6 @@
 
 
 def test_scene_graph():
-
     if og.sim is None:
         # Set global flags
         gm.ENABLE_OBJECT_STATES = True
@@ -73,8 +72,7 @@ def create_robot_config(name, position):
     }
 
     env = og.Environment(configs=config)
-
-    scene = og.sim.scenes[0]
+    scene = env.scene
 
     breakfast_table = scene.object_registry("name", "breakfast_table")
     bowl = scene.object_registry("name", "bowl")
diff --git a/tests/test_sensors.py b/tests/test_sensors.py
index b7d0ff32d..3cb8efd70 100644
--- a/tests/test_sensors.py
+++ b/tests/test_sensors.py
@@ -1,11 +1,7 @@
-import math
-
 import torch as th
 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.utils.constants import semantic_class_id_to_name
 
 
@@ -13,7 +9,6 @@
 def test_segmentation_modalities(env):
     breakfast_table = env.scene.object_registry("name", "breakfast_table")
     dishtowel = env.scene.object_registry("name", "dishtowel")
-    robot = env.scene.robots[0]
     place_obj_on_floor_plane(breakfast_table)
     dishtowel.set_position_orientation(position=[-0.4, 0.0, 0.55], orientation=[0, 0, 0, 1])
 
@@ -96,7 +91,6 @@ def test_segmentation_modalities(env):
 def test_bbox_modalities(env):
     breakfast_table = env.scene.object_registry("name", "breakfast_table")
     dishtowel = env.scene.object_registry("name", "dishtowel")
-    robot = env.scene.robots[0]
     place_obj_on_floor_plane(breakfast_table)
     dishtowel.set_position_orientation(position=[-0.4, 0.0, 0.55], orientation=[0, 0, 0, 1])
 
diff --git a/tests/test_symbolic_primitives.py b/tests/test_symbolic_primitives.py
index 4793686b7..99064d428 100644
--- a/tests/test_symbolic_primitives.py
+++ b/tests/test_symbolic_primitives.py
@@ -1,6 +1,4 @@
 import os
-import random
-import string
 
 import pytest
 import yaml
@@ -12,9 +10,6 @@
     SymbolicSemanticActionPrimitiveSet,
 )
 from omnigibson.macros import gm
-from omnigibson.objects import DatasetObject
-from omnigibson.robots import REGISTERED_ROBOTS
-from omnigibson.utils.python_utils import create_class_from_registry_and_config
 
 gm.USE_GPU_DYNAMICS = True
 gm.ENABLE_TRANSITION_RULES = True
@@ -282,8 +277,8 @@ def test_wipe(self, env, prim_gen, robot, sponge, sink, countertop):
     @pytest.mark.skip("Disabled until env reset can add/remove objects")
     def test_cut(self, env, prim_gen, apple, knife, countertop):
         # Store the apple object information for scene reset
-        deleted_objs = [apple]
-        deleted_objs_cfg = [retrieve_obj_cfg(obj) for obj in deleted_objs]
+        # deleted_objs = [apple]
+        # deleted_objs_cfg = [retrieve_obj_cfg(obj) for obj in deleted_objs]
 
         # assert not apple.states[object_states.Cut].get_value(knife)
         # start a new environment to enable transition rules
diff --git a/tests/test_systems.py b/tests/test_systems.py
index 30dc4ed5e..3a831acd9 100644
--- a/tests/test_systems.py
+++ b/tests/test_systems.py
@@ -1,9 +1,8 @@
-import pytest
 from utils import SYSTEM_EXAMPLES, og_test
 
 import omnigibson as og
 from omnigibson.object_states import Covered
-from omnigibson.systems import *
+from omnigibson.systems import VisualParticleSystem
 
 
 @og_test
diff --git a/tests/test_transform_utils.py b/tests/test_transform_utils.py
index 318dfae81..14d7b681c 100644
--- a/tests/test_transform_utils.py
+++ b/tests/test_transform_utils.py
@@ -1,7 +1,6 @@
 import math
 
 import numpy as np
-import pytest
 import torch as th
 import trimesh
 from scipy.spatial.transform import Rotation as R
@@ -9,7 +8,44 @@
 from torch.testing import assert_close
 
 from omnigibson.utils.numpy_utils import NumpyTypes
-from omnigibson.utils.transform_utils import *
+from omnigibson.utils.transform_utils import (
+    align_vector_sets,
+    anorm,
+    axisangle2quat,
+    cartesian_to_polar,
+    check_quat_right_angle,
+    convert_quat,
+    copysign,
+    dot,
+    euler2mat,
+    euler2quat,
+    integer_spiral_coordinates,
+    l2_distance,
+    mat2euler,
+    mat2pose,
+    matrix_inverse,
+    normalize,
+    pose2mat,
+    pose_inv,
+    quat2axisangle,
+    quat2euler,
+    quat2mat,
+    quat_apply,
+    quat_conjugate,
+    quat_distance,
+    quat_inverse,
+    quat_multiply,
+    quat_slerp,
+    quaternions_close,
+    random_axis_angle,
+    random_quaternion,
+    rotation_matrix,
+    transform_points,
+    transformation_matrix,
+    vecs2axisangle,
+    vecs2quat,
+    z_angle_from_quat,
+)
 
 # Create constants for vectors
 RANDOM_VECTORS = [
diff --git a/tests/test_transition_rules.py b/tests/test_transition_rules.py
index ddece38da..ddf76d6df 100644
--- a/tests/test_transition_rules.py
+++ b/tests/test_transition_rules.py
@@ -1,24 +1,27 @@
 import math
 
-import pytest
 import torch as th
-from utils import (
-    get_random_pose,
-    og_test,
-    place_obj_on_floor_plane,
-    place_objA_on_objB_bbox,
-    remove_all_systems,
-    retrieve_obj_cfg,
-)
+from utils import og_test, place_obj_on_floor_plane, 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.object_states import (
+    Contains,
+    Cooked,
+    Covered,
+    Heated,
+    HeatSourceOrSink,
+    Inside,
+    OnTop,
+    Open,
+    Saturated,
+    Temperature,
+    ToggledOn,
+    Touching,
+)
 from omnigibson.objects import DatasetObject
 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
 
 
 @og_test
@@ -1047,7 +1050,10 @@ def test_cooking_object_rule_failure_wrong_heat_source(env):
     place_obj_on_floor_plane(stove)
     og.sim.step()
 
-    heat_source_position = stove.states[HeatSourceOrSink].link.get_position_orientation()[0]
+    # Check that the stove heat source link exists
+    stove.states[HeatSourceOrSink].link.get_position_orientation()[0]
+
+    # Put the baking sheet on the stove
     baking_sheet.set_position_orientation(position=[-0.20, 0, 0.80], orientation=[0, 0, 0, 1])
     og.sim.step()
 
diff --git a/tests/utils.py b/tests/utils.py
index 0d4aeb0a4..2088cc209 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -5,8 +5,7 @@
 import omnigibson as og
 import omnigibson.utils.transform_utils as T
 from omnigibson.macros import gm
-from omnigibson.object_states import *
-from omnigibson.systems import *
+from omnigibson.systems import FluidSystem, GranularSystem, MacroPhysicalParticleSystem, MacroVisualParticleSystem
 from omnigibson.utils.constants import ParticleModifyCondition, ParticleModifyMethod, PrimType
 
 TEMP_RELATED_ABILITIES = {"cookable": {}, "freezable": {}, "burnable": {}, "heatable": {}}