Removes unnecessary future imports for Python 3.10 (#503)

# Description

With Python 3.10, we don't need future imports at many places. This MR
removes such cases. Future imports are still needed for the following:

* Circular imports (where we use `TYPE_CHECKING`)
* Modules where we have the file name the same as module name. Example:
`schemas` directory has `schemas.py` file

Fixes #390

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from collections.abc import Iterable
 from dataclasses import MISSING
 from typing import Literal

source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/app_launcher.py

@@ -12,8 +12,6 @@ fault occurs. The launched :class:`omni.isaac.kit.SimulationApp` instance is acc
 :attr:`AppLauncher.app` property.
 """
 
-from __future__ import annotations
-
 import argparse
 import faulthandler
 import os

source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/runners.py

@@ -5,8 +5,6 @@
 
 """Sub-module with runners to simplify running main via unittest."""
 
-from __future__ import annotations
-
 import unittest
 
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.actuators import ActuatorBaseCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 from typing import Literal
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/cassie.py

@@ -12,7 +12,6 @@ The following configurations are available:
 Reference: https://github.com/UMich-BipedLab/Cassie_Model/blob/master/urdf/cassie.urdf
 """
 
-from __future__ import annotations
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from omni.isaac.orbit.utils import configclass
 
 from ..asset_base_cfg import AssetBaseCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object_data.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 from dataclasses import dataclass
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from __future__ import annotations

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/rmp_flow.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import os
 
 from omni.isaac.core.utils.extensions import get_extension_path_from_name

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/differential_ik_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 from typing import Literal
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/joint_impedance.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 from collections.abc import Sequence
 from dataclasses import MISSING

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/operational_space.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 from collections.abc import Sequence
 from dataclasses import MISSING

source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/rmp_flow.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 from dataclasses import MISSING
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/device_base.py

@@ -5,8 +5,6 @@
 
 """Base class for teleoperation interface."""
 
-from __future__ import annotations
-
 from abc import ABC, abstractmethod
 from collections.abc import Callable
 from typing import Any

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/se2_gamepad.py

@@ -5,8 +5,6 @@
 
 """Gamepad controller for SE(2) control."""
 
-from __future__ import annotations
-
 import numpy as np
 import weakref
 from collections.abc import Callable

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se2_keyboard.py

@@ -5,8 +5,6 @@
 
 """Keyboard controller for SE(2) control."""
 
-from __future__ import annotations
-
 import numpy as np
 import weakref
 from collections.abc import Callable

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se2_spacemouse.py

@@ -5,8 +5,6 @@
 
 """Spacemouse controller for SE(2) control."""
 
-from __future__ import annotations
-
 import hid
 import numpy as np
 import threading

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se3_spacemouse.py

@@ -5,8 +5,6 @@
 
 """Spacemouse controller for SE(3) control."""
 
-from __future__ import annotations
-
 import hid
 import numpy as np
 import threading

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import builtins
 import torch
 import warnings

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env_cfg.py

@@ -9,8 +9,6 @@ This module defines the general configuration of the environment. It includes pa
 configuring the environment instances, viewer settings, and simulation parameters.
 """
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 from typing import Literal
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/actions_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.controllers import DifferentialIKControllerCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/commands_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import math
 from dataclasses import MISSING
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import gymnasium as gym
 import math
 import numpy as np

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.utils import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/scene_entity_cfg.py

@@ -5,8 +5,6 @@
 
 """Configuration terms for different managers."""
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.assets import Articulation, RigidObject

source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/__init__.py

@@ -21,7 +21,5 @@ Currently, the sub-package provides the following classes:
 
 """
 
-from __future__ import annotations
-
 from .config import *  # noqa: F401, F403
 from .visualization_markers import VisualizationMarkers, VisualizationMarkersCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/config/__init__.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.markers.visualization_markers import VisualizationMarkersCfg
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR

source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/visualization_markers.py

@@ -16,8 +16,6 @@ The marker prototypes can be configured with the :class:`VisualizationMarkersCfg
 .. _UsdGeom.PointInstancer: https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html
 """
 
-from __future__ import annotations
-
 import numpy as np
 import torch
 from dataclasses import MISSING

source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import builtins
 import torch
 from collections.abc import Sequence

source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.utils.configclass import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 from typing import Literal
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_data.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 from dataclasses import dataclass
 from tensordict import TensorDict

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/utils.py

@@ -5,8 +5,6 @@
 
 """Helper functions to project between pointcloud and depth images."""
 
-from __future__ import annotations
-
 import math
 import numpy as np
 import torch

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from omni.isaac.orbit.markers import VisualizationMarkersCfg
 from omni.isaac.orbit.markers.config import CONTACT_SENSOR_MARKER_CFG
 from omni.isaac.orbit.utils import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_data.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 from dataclasses import dataclass
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG, VisualizationMarkersCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_data.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 import warnings
 from dataclasses import dataclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_camera_cfg.py

@@ -3,9 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Configuration for the ray-cast sensor."""
-
-from __future__ import annotations
+"""Configuration for the ray-cast camera sensor."""
 
 from typing import Literal
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_cfg.py

@@ -5,7 +5,6 @@
 
 """Configuration for the ray-cast sensor."""
 
-from __future__ import annotations
 
 from dataclasses import MISSING
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_data.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 from dataclasses import dataclass
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.utils import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/__init__.py

@@ -3,7 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-
 """Sub-module containing converters for converting various file types to USD.
 
 In order to support direct loading of various file types into Omniverse, we provide a set of

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/asset_converter_base.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import abc
 import hashlib
 import json

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/asset_converter_base_cfg.py

@@ -3,9 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.utils import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import asyncio
 import os
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from omni.isaac.orbit.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
 from omni.isaac.orbit.sim.schemas import schemas_cfg
 from omni.isaac.orbit.utils import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/urdf_converter_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 from typing import Literal
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas.py

@@ -2,9 +2,6 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from __future__ import annotations
-
 import carb
 import omni.isaac.core.utils.stage as stage_utils
 from pxr import PhysxSchema, Usd, UsdPhysics

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from typing import Literal
 
 from omni.isaac.orbit.utils import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py

@@ -9,8 +9,6 @@ This module defines the general configuration of the environment. It includes pa
 configuring the environment instances, viewer settings, and simulation parameters.
 """
 
-from __future__ import annotations
-
 from typing import Literal
 
 from omni.isaac.orbit.utils import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import builtins
 import enum
 import numpy as np

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from collections.abc import Callable
 from dataclasses import MISSING
 from typing import Literal

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/physics_materials_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from collections.abc import Callable
 from dataclasses import MISSING
 from typing import Literal

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/visual_materials_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from collections.abc import Callable
 from dataclasses import MISSING
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from collections.abc import Callable
 from typing import Literal
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/shapes_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from collections.abc import Callable
 from dataclasses import MISSING
 from typing import Literal

source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/config/rough.py

@@ -5,8 +5,6 @@
 
 """Configuration for custom terrains."""
 
-from __future__ import annotations
-
 import omni.isaac.orbit.terrains as terrain_gen
 
 from ..terrain_generator_cfg import TerrainGeneratorCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/hf_terrains_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 
 from omni.isaac.orbit.utils import configclass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_generator.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import numpy as np
 import os
 import torch

source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/mesh_terrains_cfg.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 from dataclasses import MISSING
 from typing import Literal
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/utils.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import numpy as np
 import scipy.spatial.transform as tf
 import trimesh

source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/utils.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import numpy as np
 import torch
 import trimesh

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/array.py

@@ -5,8 +5,6 @@
 
 """Sub-module containing utilities for working with different array backends."""
 
-from __future__ import annotations
-
 import numpy as np
 import torch
 from typing import Union

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/assets.py

@@ -12,8 +12,6 @@ For more information on Omniverse Nucleus:
 https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html#omniverse-nucleus
 """
 
-from __future__ import annotations
-
 import io
 import os
 import tempfile

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/configclass.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 """Sub-module that provides a wrapper around the Python 3.7 onwards ``dataclasses`` module."""
 
 import inspect

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/dict.py

@@ -5,8 +5,6 @@
 
 """Sub-module for utilities for working with dictionaries."""
 
-from __future__ import annotations
-
 import collections.abc
 import hashlib
 import json

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/math.py

@@ -5,8 +5,6 @@
 
 """Sub-module containing utilities for various math operations."""
 
-from __future__ import annotations
-
 import numpy as np
 import torch
 import torch.nn.functional

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/string.py

@@ -5,8 +5,6 @@
 
 """Sub-module containing utilities for transforming strings and regular expressions."""
 
-from __future__ import annotations
-
 import ast
 import importlib
 import inspect

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/ops.py

@@ -5,8 +5,6 @@
 
 """Wrapping around warp kernels for compatibility with torch tensors."""
 
-from __future__ import annotations
-
 import numpy as np
 import torch
 

source/extensions/omni.isaac.orbit/test/app/test_argparser_launch.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import argparse
 import unittest
 from unittest import mock

source/extensions/omni.isaac.orbit/test/app/test_env_var_launch.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import os
 import unittest
 

source/extensions/omni.isaac.orbit/test/app/test_kwarg_launch.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import unittest
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/assets/check_external_force.py

@@ -14,8 +14,6 @@ This script checks if the external force is applied correctly on the robot.
     ./orbit.sh -p source/extensions/omni.isaac.orbit/test/assets/check_external_force.py --body .*_SHANK --force 100
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 

source/extensions/omni.isaac.orbit/test/assets/check_ridgeback_franka.py

@@ -13,11 +13,8 @@ This script demonstrates how to simulate a mobile manipulator.
 
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
-
 import argparse
 
 from omni.isaac.orbit.app import AppLauncher

source/extensions/omni.isaac.orbit/test/assets/test_articulation.py

@@ -6,8 +6,6 @@
 # ignore private usage of variables warning
 # pyright: reportPrivateUsage=none
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py

@@ -6,7 +6,6 @@
 # ignore private usage of variables warning
 # pyright: reportPrivateUsage=none
 
-from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 

source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_app.py

@@ -25,8 +25,6 @@ Output:
 
 """
 
-from __future__ import annotations
-
 from omni.isaac.kit import SimulationApp
 
 if __name__ == "__main__":

source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_camera.py

@@ -17,8 +17,6 @@ _isaac_sim/python.sh source/extensions/omni.isaac.orbit/test/deps/isaacsim/check
 ```
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 import argparse

source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_legged_robot_clone.py

@@ -9,8 +9,6 @@ This script demonstrates how to use the cloner API from Isaac Sim.
 Reference: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gym_cloner.html
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 

source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_rep_texture_randomizer.py

@@ -19,8 +19,6 @@ Usage:
 
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 import argparse

source/extensions/omni.isaac.orbit/test/deps/test_scipy.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 # isort: off
 import warnings
 

source/extensions/omni.isaac.orbit/test/deps/test_torch.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 import torch
 import torch.utils.benchmark as benchmark
 import unittest

source/extensions/omni.isaac.orbit/test/devices/check_keyboard.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 """
 This script shows how to use a teleoperation device with Isaac Sim.
 

source/extensions/omni.isaac.orbit/test/envs/check_base_env_anymal_locomotion.py

@@ -11,8 +11,6 @@ A locomotion policy is loaded and used to control the robot. This shows how to u
 environment with a policy.
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 

source/extensions/omni.isaac.orbit/test/envs/check_base_env_floating_cube.py

@@ -8,8 +8,6 @@ This script demonstrates the base environment concept that combines a scene with
 observation and event manager for a floating cube.
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 

source/extensions/omni.isaac.orbit/test/envs/test_null_command_term.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/managers/test_reward_manager.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/markers/check_markers_visibility.py

@@ -17,8 +17,6 @@ please check: https://www.youtube.com/watch?v=vLk-f9LWj48&ab_channel=NVIDIAOmniv
 
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 

source/extensions/omni.isaac.orbit/test/markers/test_visualization_markers.py

@@ -3,9 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/scene/check_interactive_scene.py

@@ -8,8 +8,6 @@ This script demonstrates how to use the scene interface to quickly setup a scene
 articulated robots and sensors.
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 

source/extensions/omni.isaac.orbit/test/scene/test_interactive_scene.py

@@ -3,8 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py

@@ -11,8 +11,6 @@ This script demonstrates how to use the contact sensor sensor in Orbit.
     ./orbit.sh -p source/extensions/omni.isaac.orbit/test/sensors/test_contact_sensor.py --num_robots 2
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 

source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py

@@ -12,8 +12,6 @@ This script shows how to use the ray caster from the Orbit framework.
     ./orbit.sh -p source/extensions/omni.isaac.orbit/test/sensors/test_ray_caster.py --headless
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 import argparse

source/extensions/omni.isaac.orbit/test/sensors/test_camera.py

@@ -6,8 +6,6 @@
 # ignore private usage of variables warning
 # pyright: reportPrivateUsage=none
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests
@@ -30,7 +28,6 @@ import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 import omni.replicator.core as rep
 from omni.isaac.core.prims import GeometryPrim, RigidPrim
-from omni.isaac.core.simulation_context import SimulationContext
 from pxr import Gf, Usd, UsdGeom
 
 import omni.isaac.orbit.sim as sim_utils
@@ -66,7 +63,8 @@ class TestCamera(unittest.TestCase):
         # Simulation time-step
         self.dt = 0.01
         # Load kit helper
-        self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="torch", device="cpu")
+        sim_cfg = sim_utils.SimulationCfg(dt=self.dt)
+        self.sim: sim_utils.SimulationContext = sim_utils.SimulationContext(sim_cfg)
         # populate scene
         self._populate_scene()
         # load stage
@@ -80,7 +78,6 @@ class TestCamera(unittest.TestCase):
         # note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :(
         self.sim._timeline.stop()
         # clear the stage
-        self.sim.clear()
         self.sim.clear_all_callbacks()
         self.sim.clear_instance()
 

source/extensions/omni.isaac.orbit/test/sensors/test_contact_sensor.py

@@ -5,8 +5,6 @@
 
 """Tests to verify contact sensor functionality on rigid object prims."""
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/sensors/test_frame_transformer.py

@@ -7,8 +7,6 @@
 This script checks the FrameTransformer sensor by visualizing the frames that it creates.
 """
 
-from __future__ import annotations
-
 """Launch Isaac Sim Simulator first."""
 
 from omni.isaac.orbit.app import AppLauncher, run_tests

source/extensions/omni.isaac.orbit/test/sensors/test_ray_caster_camera.py

@@ -25,9 +25,9 @@ import unittest
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 import omni.replicator.core as rep
-from omni.isaac.core.simulation_context import SimulationContext
 from pxr import Gf
 
+import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.sensors.camera import Camera, CameraCfg
 from omni.isaac.orbit.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns
 from omni.isaac.orbit.sim import PinholeCameraCfg
@@ -76,7 +76,8 @@ class TestWarpCamera(unittest.TestCase):
         # Simulation time-step
         self.dt = 0.01
         # Load kit helper
-        self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="torch", device="cpu")
+        sim_cfg = sim_utils.SimulationCfg(dt=self.dt)
+        self.sim: sim_utils.SimulationContext = sim_utils.SimulationContext(sim_cfg)
         # Ground-plane
         mesh = make_plane(size=(2e1, 2e1), height=0.0, center_zero=True)
         create_prim_from_mesh("/World/defaultGroundPlane", mesh)
@@ -91,7 +92,7 @@ class TestWarpCamera(unittest.TestCase):
         # note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :(
         self.sim._timeline.stop()
         # clear the stage
-        self.sim.clear()
+        self.sim.clear_all_callbacks()
         self.sim.clear_instance()
 
     """