diff --git a/INSTALL.md b/INSTALL.md
index ed9e2b6b..f0257157 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -42,7 +42,7 @@ conda install jupyter
 pip install scikit-image matplotlib imageio
 
 # Tests/Linting
-pip install black isort flake8
+pip install black isort flake8 flake8-bugbear flake8-comprehensions
 ```
 
 ## Build/Install Pytorch3d
@@ -109,4 +109,4 @@ After installing, verify whether all unit tests have passed
 ```
 cd tests
 python3 -m unittest discover -p *.py
-```
\ No newline at end of file
+```
diff --git a/dev/linter.sh b/dev/linter.sh
index 5923a6d9..c5b9b02b 100755
--- a/dev/linter.sh
+++ b/dev/linter.sh
@@ -13,7 +13,7 @@
 }
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
-DIR="${DIR}/.."
+DIR=$(dirname "${DIR}")
 
 echo "Running isort..."
 isort -y -sp "${DIR}"
@@ -25,6 +25,15 @@ echo "Running flake..."
 flake8 "${DIR}"
 
 echo "Running clang-format ..."
-find "${DIR}" -regex ".*\.\(cpp\|c\|cc\|cu\|cuh\|cxx\|h\|hh\|hpp\|hxx\|tcc\|mm\|m\)" -print0 | xargs -0 clang-format -i
+clangformat=$(command -v clang-format-8 || echo clang-format)
+find "${DIR}" -regex ".*\.\(cpp\|c\|cc\|cu\|cuh\|cxx\|h\|hh\|hpp\|hxx\|tcc\|mm\|m\)" -print0 | xargs -0 "${clangformat}" -i
 
-(cd "${DIR}"; command -v arc > /dev/null && arc lint) || true
+# (cd "${DIR}"; command -v arc > /dev/null && arc lint) || true
+
+# Run pyre internally only.
+if [[ -f tests/TARGETS ]]
+then
+  echo "Running pyre..."
+  echo "To restart/kill pyre server, run 'pyre restart' or 'pyre kill' in fbcode/"
+  ( cd ~/fbsource/fbcode; pyre -l vision/fair/pytorch3d/ )
+fi
diff --git a/pytorch3d/io/obj_io.py b/pytorch3d/io/obj_io.py
index ff40125c..258a6220 100644
--- a/pytorch3d/io/obj_io.py
+++ b/pytorch3d/io/obj_io.py
@@ -8,7 +8,7 @@ import os
 import pathlib
 import warnings
 from collections import namedtuple
-from typing import List
+from typing import List, Optional
 import torch
 from fvcore.common.file_io import PathManager
 from PIL import Image
@@ -519,7 +519,7 @@ def load_mtl(f_mtl, material_names: List, data_dir: str):
     return material_properties, texture_images
 
 
-def save_obj(f, verts, faces, decimal_places: int = None):
+def save_obj(f, verts, faces, decimal_places: Optional[int] = None):
     """
     Save a mesh to an .obj file.
 
@@ -544,7 +544,7 @@ def save_obj(f, verts, faces, decimal_places: int = None):
 
 
 # TODO (nikhilar) Speed up this function.
-def _save(f, verts, faces, decimal_places: int = None):
+def _save(f, verts, faces, decimal_places: Optional[int] = None):
     if verts.dim() != 2 or verts.size(1) != 3:
         raise ValueError("Argument 'verts' should be of shape (num_verts, 3).")
     if faces.dim() != 2 or faces.size(1) != 3:
diff --git a/pytorch3d/ops/packed_to_padded.py b/pytorch3d/ops/packed_to_padded.py
index c64894b7..8c2869b4 100644
--- a/pytorch3d/ops/packed_to_padded.py
+++ b/pytorch3d/ops/packed_to_padded.py
@@ -63,21 +63,22 @@ def packed_to_padded(inputs, first_idxs, max_size):
     Torch wrapper that handles allowed input shapes. See description below.
 
     Args:
-        inputs: FloatTensor of shape (F,) or (F, D), representing the packed batch tensor.
-            e.g. areas for faces in a batch of meshes.
+        inputs: FloatTensor of shape (F,) or (F, D), representing the packed
+            batch tensor, e.g. areas for faces in a batch of meshes.
         first_idxs: LongTensor of shape (N,) where N is the number of
             elements in the batch and `first_idxs[i] = f`
             means that the inputs for batch element i begin at `inputs[f]`.
         max_size: Max length of an element in the batch.
 
     Returns:
-        inputs_padded: FloatTensor of shape (N, max_size) or (N, max_size, D) where max_size is 
-            max of `sizes`. The values for batch element i which start at
-            `inputs[first_idxs[i]]` will be copied to `inputs_padded[i, :]`,
-            with zeros padding out the extra inputs.
-   
-    To handle the allowed input shapes, we convert the inputs tensor of shape (F,) to (F, 1).
-    We reshape the output back to (N, max_size) from (N, max_size, 1).
+        inputs_padded: FloatTensor of shape (N, max_size) or (N, max_size, D)
+            where max_size is  max of `sizes`. The values for batch element i
+            which start at `inputs[first_idxs[i]]` will be copied to
+            `inputs_padded[i, :]`, with zeros padding out the extra inputs.
+
+    To handle the allowed input shapes, we convert the inputs tensor of shape
+    (F,) to (F, 1). We reshape the output back to (N, max_size) from
+    (N, max_size, 1).
     """
     # if inputs is of shape (F,), reshape into (F, 1)
     flat = False
@@ -101,8 +102,8 @@ class _PaddedToPacked(Function):
         """
         Args:
             ctx: Context object used to calculate gradients.
-            inputs: FloatTensor of shape (N, max_size, D), representing the padded tensor.
-                e.g. areas for faces in a batch of meshes.
+            inputs: FloatTensor of shape (N, max_size, D), representing
+            the padded tensor, e.g. areas for faces in a batch of meshes.
             first_idxs: LongTensor of shape (N,) where N is the number of
                 elements in the batch and `first_idxs[i] = f`
                 means that the inputs for batch element i begin at `inputs_packed[f]`.
@@ -141,11 +142,12 @@ class _PaddedToPacked(Function):
 
 def padded_to_packed(inputs, first_idxs, num_inputs):
     """
-    Torch wrapper that handles allowed input shapes. See description below. 
+    Torch wrapper that handles allowed input shapes. See description below.
 
     Args:
-        inputs: FloatTensor of shape (N, max_size) or (N, max_size, D), representing the 
-            padded tensor. e.g. areas for faces in a batch of meshes.
+        inputs: FloatTensor of shape (N, max_size) or (N, max_size, D),
+            representing the padded tensor, e.g. areas for faces in a batch of
+            meshes.
         first_idxs: LongTensor of shape (N,) where N is the number of
             elements in the batch and `first_idxs[i] = f`
             means that the inputs for batch element i begin at `inputs_packed[f]`.
@@ -155,8 +157,9 @@ def padded_to_packed(inputs, first_idxs, num_inputs):
         inputs_packed: FloatTensor of shape (F,) or (F, D) where
             `inputs_packed[first_idx[i]:] = inputs[i, :]`.
 
-    To handle the allowed input shapes, we convert the inputs tensor of shape (N, max_size) 
-    to (N, max_size, 1). We reshape the output back to (F,) from (F, 1).
+    To handle the allowed input shapes, we convert the inputs tensor of shape
+    (N, max_size)  to (N, max_size, 1). We reshape the output back to (F,) from
+    (F, 1).
     """
     # if inputs is of shape (N, max_size), reshape into (N, max_size, 1))
     flat = False
diff --git a/pytorch3d/renderer/cameras.py b/pytorch3d/renderer/cameras.py
index 4e13ad55..c856ffeb 100644
--- a/pytorch3d/renderer/cameras.py
+++ b/pytorch3d/renderer/cameras.py
@@ -103,9 +103,8 @@ class OpenGLPerspectiveCameras(TensorProperties):
         znear = kwargs.get("znear", self.znear)  # pyre-ignore[16]
         zfar = kwargs.get("zfar", self.zfar)  # pyre-ignore[16]
         fov = kwargs.get("fov", self.fov)  # pyre-ignore[16]
-        aspect_ratio = kwargs.get(
-            "aspect_ratio", self.aspect_ratio
-        )  # pyre-ignore[16]
+        # pyre-ignore[16]
+        aspect_ratio = kwargs.get("aspect_ratio", self.aspect_ratio)
         degrees = kwargs.get("degrees", self.degrees)
 
         P = torch.zeros(
@@ -529,12 +528,10 @@ class SfMPerspectiveCameras(TensorProperties):
                     [0,    0,    1,   0],
             ]
         """
-        principal_point = kwargs.get(
-            "principal_point", self.principal_point
-        )  # pyre-ignore[16]
-        focal_length = kwargs.get(
-            "focal_length", self.focal_length
-        )  # pyre-ignore[16]
+        # pyre-ignore[16]
+        principal_point = kwargs.get("principal_point", self.principal_point)
+        # pyre-ignore[16]
+        focal_length = kwargs.get("focal_length", self.focal_length)
 
         P = _get_sfm_calibration_matrix(
             self._N, self.device, focal_length, principal_point, False
@@ -699,12 +696,10 @@ class SfMOrthographicCameras(TensorProperties):
                     [0,    0,    0,   1],
             ]
         """
-        principal_point = kwargs.get(
-            "principal_point", self.principal_point
-        )  # pyre-ignore[16]
-        focal_length = kwargs.get(
-            "focal_length", self.focal_length
-        )  # pyre-ignore[16]
+        # pyre-ignore[16]
+        principal_point = kwargs.get("principal_point", self.principal_point)
+        # pyre-ignore[16]
+        focal_length = kwargs.get("focal_length", self.focal_length)
 
         P = _get_sfm_calibration_matrix(
             self._N, self.device, focal_length, principal_point, True
diff --git a/pytorch3d/structures/textures.py b/pytorch3d/structures/textures.py
index 5173aff7..4daf69bb 100644
--- a/pytorch3d/structures/textures.py
+++ b/pytorch3d/structures/textures.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 # Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
 
-from typing import List, Union
+from typing import List, Optional, Union
 import torch
 import torchvision.transforms as T
 
@@ -81,10 +81,10 @@ def _extend_tensor(input_tensor: torch.Tensor, N: int) -> torch.Tensor:
 class Textures(object):
     def __init__(
         self,
-        maps: Union[List, torch.Tensor] = None,
-        faces_uvs: torch.Tensor = None,
-        verts_uvs: torch.Tensor = None,
-        verts_rgb: torch.Tensor = None,
+        maps: Union[List, torch.Tensor, None] = None,
+        faces_uvs: Optional[torch.Tensor] = None,
+        verts_uvs: Optional[torch.Tensor] = None,
+        verts_rgb: Optional[torch.Tensor] = None,
     ):
         """
         Args:
@@ -105,7 +105,7 @@ class Textures(object):
             msg = "Expected verts_rgb to be of shape (N, V, 3); got %r"
             raise ValueError(msg % verts_rgb.shape)
         if maps is not None:
-            if torch.is_tensor(map) and map.ndim != 4:
+            if torch.is_tensor(maps) and maps.ndim != 4:
                 msg = "Expected maps to be of shape (N, H, W, 3); got %r"
                 raise ValueError(msg % repr(maps.shape))
             elif isinstance(maps, list):
diff --git a/pytorch3d/transforms/rotation_conversions.py b/pytorch3d/transforms/rotation_conversions.py
index 7c01b569..5de39383 100644
--- a/pytorch3d/transforms/rotation_conversions.py
+++ b/pytorch3d/transforms/rotation_conversions.py
@@ -2,6 +2,7 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
 
 import functools
+from typing import Optional
 import torch
 
 
@@ -246,7 +247,10 @@ def matrix_to_euler_angles(matrix, convention: str):
 
 
 def random_quaternions(
-    n: int, dtype: torch.dtype = None, device=None, requires_grad=False
+    n: int,
+    dtype: Optional[torch.dtype] = None,
+    device=None,
+    requires_grad=False,
 ):
     """
     Generate random quaternions representing rotations,
@@ -272,7 +276,10 @@ def random_quaternions(
 
 
 def random_rotations(
-    n: int, dtype: torch.dtype = None, device=None, requires_grad=False
+    n: int,
+    dtype: Optional[torch.dtype] = None,
+    device=None,
+    requires_grad=False,
 ):
     """
     Generate random rotations as 3x3 rotation matrices.
@@ -295,7 +302,7 @@ def random_rotations(
 
 
 def random_rotation(
-    dtype: torch.dtype = None, device=None, requires_grad=False
+    dtype: Optional[torch.dtype] = None, device=None, requires_grad=False
 ):
     """
     Generate a single random 3x3 rotation matrix.
diff --git a/pytorch3d/transforms/transform3d.py b/pytorch3d/transforms/transform3d.py
index 7b88a5aa..cd901f98 100644
--- a/pytorch3d/transforms/transform3d.py
+++ b/pytorch3d/transforms/transform3d.py
@@ -3,6 +3,7 @@
 
 import math
 import warnings
+from typing import Optional
 import torch
 
 from .rotation_conversions import _axis_angle_rotation
@@ -250,7 +251,7 @@ class Transform3d:
         out._matrix = matrix
         return out
 
-    def transform_points(self, points, eps: float = None):
+    def transform_points(self, points, eps: Optional[float] = None):
         """
         Use this transform to transform a set of 3D points. Assumes row major
         ordering of the input points.
diff --git a/scripts/parse_tutorials.py b/scripts/parse_tutorials.py
index e4ec568e..6bc61108 100644
--- a/scripts/parse_tutorials.py
+++ b/scripts/parse_tutorials.py
@@ -4,7 +4,6 @@
 import argparse
 import json
 import os
-
 import nbformat
 from bs4 import BeautifulSoup
 from nbconvert import HTMLExporter, ScriptExporter
diff --git a/setup.cfg b/setup.cfg
index 8bbe1356..fec0140d 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -6,7 +6,8 @@ include_trailing_comma=True
 multi_line_output=3
 known_standard_library=numpy,setuptools
 known_myself=pytorch3d
-known_third_party=fvcore,torch,torchvision,matplotlib,mpl_toolkits,PIL,yaml,jinja2,requests
+known_third_party=fvcore,torch,torchvision,matplotlib,mpl_toolkits,PIL,yaml
+                  jinja2,requests,nbformat,nbconvert,bs4
 no_lines_before=STDLIB,THIRDPARTY
 sections=FUTURE,STDLIB,THIRDPARTY,myself,FIRSTPARTY,LOCALFOLDER
 default_section=FIRSTPARTY
diff --git a/tests/test_rotation_conversions.py b/tests/test_rotation_conversions.py
index 1f14c72e..f4800aac 100644
--- a/tests/test_rotation_conversions.py
+++ b/tests/test_rotation_conversions.py
@@ -8,7 +8,6 @@ import unittest
 import torch
 
 from pytorch3d.transforms.rotation_conversions import (
-    _axis_angle_rotation,
     euler_angles_to_matrix,
     matrix_to_euler_angles,
     matrix_to_quaternion,