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alexmillanealexmillane
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Clean up type annotation in the environment files. (#575)
## Summary Clean up type annotations in the environment files ## Detailed description - Type annotation were not properly done at the start of the project, and that propagated over time to all environment files. - This cleans that up.
1 parent 7761419 commit 80a2d48

19 files changed

Lines changed: 118 additions & 81 deletions

‎isaaclab_arena_environments/cli.py‎

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,11 @@
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#
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# SPDX-License-Identifier: Apache-2.0
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from __future__ import annotations
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import argparse
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import importlib
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from typing import Any
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from typing import TYPE_CHECKING, Any
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from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
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from isaaclab_arena_environments.cube_goal_pose_environment import CubeGoalPoseEnvironment
@@ -30,11 +32,8 @@
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from isaaclab_arena_environments.press_button_environment import PressButtonEnvironment
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from isaaclab_arena_environments.tabletop_place_upright_environment import TableTopPlaceUprightEnvironment
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33-
# NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
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# We cannot annotate types which require the simulation app to be started in order to
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# import, because this file is used to retrieve CLI arguments, so it must be imported
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# before the simulation app is started.
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# TODO(alexmillane, 2025.09.04): Fix this.
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if TYPE_CHECKING:
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from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
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# Collection of the available example environments
@@ -118,7 +117,7 @@ def get_isaaclab_arena_environments_cli_parser(
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return args_parser
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121-
def get_arena_builder_from_cli(args_cli: argparse.Namespace): # -> tuple[ManagerBasedRLEnvCfg, str]:
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def get_arena_builder_from_cli(args_cli: argparse.Namespace) -> ArenaEnvBuilder:
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from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
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# Get the example environment

‎isaaclab_arena_environments/cube_goal_pose_environment.py‎

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@@ -3,15 +3,15 @@
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#
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# SPDX-License-Identifier: Apache-2.0
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from __future__ import annotations
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import argparse
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from typing import TYPE_CHECKING
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from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
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# NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
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# We cannot annotate types which require the simulation app to be started in order to
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# import, because this file is used to retrieve CLI arguments, so it must be imported
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# before the simulation app is started.
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# TODO(alexmillane, 2025.09.04): Fix this.
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if TYPE_CHECKING:
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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class CubeGoalPoseEnvironment(ExampleEnvironmentBase):
@@ -21,7 +21,7 @@ class CubeGoalPoseEnvironment(ExampleEnvironmentBase):
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name = "cube_goal_pose"
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24-
def get_env(self, args_cli: argparse.Namespace):
24+
def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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from isaaclab_arena.scene.scene import Scene

‎isaaclab_arena_environments/dexsuite_lift_environment.py‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -7,10 +7,12 @@
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from __future__ import annotations
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import argparse
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from typing import TYPE_CHECKING
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from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
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# NOTE: Same pattern as other example envs — avoid heavy imports before AppLauncher.
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if TYPE_CHECKING:
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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class DexsuiteLiftEnvironment(ExampleEnvironmentBase):
@@ -21,7 +23,7 @@ class DexsuiteLiftEnvironment(ExampleEnvironmentBase):
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name: str = "dexsuite_lift"
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def get_env(self, args_cli: argparse.Namespace):
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def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
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import math
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import isaaclab_tasks.manager_based.manipulation.dexsuite # noqa: F401

‎isaaclab_arena_environments/example_environment_base.py‎

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@@ -3,14 +3,14 @@
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#
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# SPDX-License-Identifier: Apache-2.0
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from __future__ import annotations
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import argparse
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from abc import ABC, abstractmethod
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from typing import TYPE_CHECKING
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9-
# NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
10-
# We cannot annotate types which require the simulation app to be started in order to
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# import, because this file is used to retrieve CLI arguments, so it must be imported
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# before the simulation app is started.
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# TODO(alexmillane, 2025.09.04): Fix this.
12+
if TYPE_CHECKING:
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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class ExampleEnvironmentBase(ABC):
@@ -25,7 +25,7 @@ def __init__(self):
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self.hdr_registry = HDRImageRegistry()
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@abstractmethod
28-
def get_env(self, args_cli: argparse.Namespace): # -> IsaacLabArenaEnvironment:
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def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
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pass
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@abstractmethod

‎isaaclab_arena_environments/franka_put_and_close_door_environment.py‎

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@@ -3,15 +3,15 @@
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#
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# SPDX-License-Identifier: Apache-2.0
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from __future__ import annotations
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import argparse
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from typing import TYPE_CHECKING
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from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
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10-
# NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
11-
# We cannot annotate types which require the simulation app to be started in order to
12-
# import, because this file is used to retrieve CLI arguments, so it must be imported
13-
# before the simulation app is started.
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# TODO(alexmillane, 2025.09.04): Fix this.
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if TYPE_CHECKING:
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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class FrankaPutAndCloseDoorEnvironment(ExampleEnvironmentBase):
@@ -24,7 +24,7 @@ class FrankaPutAndCloseDoorEnvironment(ExampleEnvironmentBase):
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name = "franka_put_and_close_door"
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def get_env(self, args_cli: argparse.Namespace):
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def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
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from isaaclab_arena.assets.object_base import ObjectType
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from isaaclab_arena.assets.object_reference import ObjectReference
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment

‎isaaclab_arena_environments/galileo_g1_locomanip_pick_and_place_environment.py‎

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#
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# SPDX-License-Identifier: Apache-2.0
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from __future__ import annotations
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import argparse
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import math
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from typing import TYPE_CHECKING
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from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
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if TYPE_CHECKING:
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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class GalileoG1LocomanipPickAndPlaceEnvironment(ExampleEnvironmentBase):
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name: str = "galileo_g1_locomanip_pick_and_place"
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16-
def get_env(self, args_cli: argparse.Namespace):
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def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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from isaaclab_arena.scene.scene import Scene
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from isaaclab_arena.tasks.g1_locomanip_pick_and_place_task import G1LocomanipPickAndPlaceTask

‎isaaclab_arena_environments/galileo_pick_and_place_environment.py‎

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#
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# SPDX-License-Identifier: Apache-2.0
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from __future__ import annotations
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import argparse
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from typing import TYPE_CHECKING
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from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
912

10-
# NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
11-
# We cannot annotate types which require the simulation app to be started in order to
12-
# import, because this file is used to retrieve CLI arguments, so it must be imported
13-
# before the simulation app is started.
14-
# TODO(alexmillane, 2025.09.04): Fix this.
13+
if TYPE_CHECKING:
14+
from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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class GalileoPickAndPlaceEnvironment(ExampleEnvironmentBase):
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name: str = "galileo_pick_and_place"
2020

21-
def get_env(self, args_cli: argparse.Namespace): # -> IsaacLabArenaEnvironment:
21+
def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
2222
from isaaclab_arena.assets.object_reference import ObjectReference
2323
from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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from isaaclab_arena.scene.scene import Scene

‎isaaclab_arena_environments/gr1_open_microwave_environment.py‎

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#
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# SPDX-License-Identifier: Apache-2.0
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from __future__ import annotations
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68
import argparse
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from typing import TYPE_CHECKING
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811
from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
912

10-
# NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
11-
# We cannot annotate types which require the simulation app to be started in order to
12-
# import, because this file is used to retrieve CLI arguments, so it must be imported
13-
# before the simulation app is started.
14-
# TODO(alexmillane, 2025.09.04): Fix this.
13+
if TYPE_CHECKING:
14+
from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
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1616

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class Gr1OpenMicrowaveEnvironment(ExampleEnvironmentBase):
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name: str = "gr1_open_microwave"
2020

21-
def get_env(self, args_cli: argparse.Namespace): # -> IsaacLabArenaEnvironment:
21+
def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
2222
from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
2323
from isaaclab_arena.scene.scene import Scene
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from isaaclab_arena.tasks.open_door_task import OpenDoorTask

‎isaaclab_arena_environments/gr1_put_and_close_door_environment.py‎

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#
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# SPDX-License-Identifier: Apache-2.0
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from __future__ import annotations
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68
import argparse
79
import math
10+
from typing import TYPE_CHECKING
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from isaaclab_arena.tasks.common.mimic_default_params import MIMIC_DATAGEN_CONFIG_DEFAULTS
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from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
1114

12-
# NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
13-
# We cannot annotate types which require the simulation app to be started in order to
14-
# import, because this file is used to retrieve CLI arguments, so it must be imported
15-
# before the simulation app is started.
16-
# TODO(alexmillane, 2025.09.04): Fix this.
15+
if TYPE_CHECKING:
16+
from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
1717

1818

1919
RANDOMIZATION_HALF_RANGE_X_M = 0.03
@@ -32,7 +32,7 @@ class GR1PutAndCloseDoorEnvironment(ExampleEnvironmentBase):
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3333
name = "put_item_in_fridge_and_close_door"
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35-
def get_env(self, args_cli: argparse.Namespace):
35+
def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
3636
from isaaclab.envs.mimic_env_cfg import MimicEnvCfg
3737
from isaaclab.utils import configclass
3838

‎isaaclab_arena_environments/gr1_table_multi_object_no_collision_environment.py‎

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--num_envs 1 --enable_cameras gr1_table_multi_object_no_collision --embodiment gr1_joint
1414
"""
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from __future__ import annotations
17+
1618
import argparse
19+
from typing import TYPE_CHECKING
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from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
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23+
if TYPE_CHECKING:
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from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
25+
2026
DEFAULT_TABLE_OBJECTS = [
2127
"cracker_box",
2228
"mustard_bottle",
@@ -36,7 +42,7 @@ class GR1TableMultiObjectNoCollisionEnvironment(ExampleEnvironmentBase):
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3743
name: str = "gr1_table_multi_object_no_collision"
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39-
def get_env(self, args_cli: argparse.Namespace): # -> IsaacLabArenaEnvironment:
45+
def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
4046
from isaaclab_arena.assets.object_reference import ObjectReference
4147
from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
4248
from isaaclab_arena.relations.relations import IsAnchor, On

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