Updates pre-commit and setup.py to require Python 3.10 (#389)

# Description

As we are dropping support for Isaac Sim 2022.2, this MR updates the
pre-commit and setup.py to check for Python 3.10 language. Notable
changes when the formatter was run:

* `typing-extensions` has been merged to `typing`
* `collections.abc` is favored over `typing` for importing generic
types. The latter will be deprecated in future Python releases.

## 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

.pre-commit-config.yaml

 repos:
   - repo: https://github.com/python/black
-    rev: 23.10.1
+    rev: 24.1.1
     hooks:
       - id: black
         args: ["--line-length", "120", "--preview"]
   - repo: https://github.com/pycqa/flake8
-    rev: 6.1.0
+    rev: 7.0.0
     hooks:
       - id: flake8
         additional_dependencies: [flake8-simplify, flake8-return]
@@ -25,7 +25,7 @@ repos:
       - id: detect-private-key
       - id: debug-statements
   - repo: https://github.com/pycqa/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
         name: isort (python)
@@ -34,7 +34,7 @@ repos:
     rev: v3.15.0
     hooks:
       - id: pyupgrade
-        args: ["--py37-plus"]
+        args: ["--py310-plus"]
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.6
     hooks:

pyproject.toml

 [tool.isort]
 
-py_version = 37
+py_version = 310
 line_length = 120
 group_by_package = true
 
@@ -36,7 +36,6 @@ extra_standard_library = [
     "toml",
     "trimesh",
     "tqdm",
-    "typing_extensions",
 ]
 # Imports from Isaac Sim and Omniverse
 known_third_party = [
@@ -71,7 +70,7 @@ exclude = [
 ]
 
 typeCheckingMode = "basic"
-pythonVersion = "3.7"
+pythonVersion = "3.10"
 pythonPlatform = "Linux"
 enableTypeIgnoreComments = true
 

source/extensions/omni.isaac.contrib_tasks/setup.py

@@ -26,12 +26,13 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.7",
+    python_requires=">=3.10",
     packages=["omni.isaac.contrib_tasks"],
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
         "Isaac Sim :: 2023.1.0-hotfix.1",
+        "Isaac Sim :: 2023.1.1",
     ],
     zip_safe=False,
 )

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

@@ -7,7 +7,8 @@ from __future__ import annotations
 
 import torch
 from abc import ABC, abstractmethod
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 from omni.isaac.core.utils.types import ArticulationActions
 
@@ -57,7 +58,7 @@ class ActuatorBase(ABC):
         self,
         cfg: ActuatorBaseCfg,
         joint_names: list[str],
-        joint_ids: Sequence[int],
+        joint_ids: slice | Sequence[int],
         num_envs: int,
         device: str,
         stiffness: torch.Tensor | float = 0.0,
@@ -144,7 +145,7 @@ class ActuatorBase(ABC):
         return self._joint_names
 
     @property
-    def joint_indices(self) -> Sequence[int]:
+    def joint_indices(self) -> slice | Sequence[int]:
         """Articulation's joint indices that are part of the group.
 
         Note:

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

@@ -5,9 +5,9 @@
 
 from __future__ import annotations
 
+from collections.abc import Iterable
 from dataclasses import MISSING
-from typing import Iterable
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.utils import configclass
 
@@ -32,16 +32,16 @@ class ActuatorBaseCfg:
         This can be a list of joint names or a list of regex expressions (e.g. ".*").
     """
 
-    effort_limit: float | None = None
+    effort_limit: dict[str, float] | float | None = None
     """Force/Torque limit of the joints in the group. Defaults to None.
 
     If None, the limit is set to the value specified in the USD joint prim.
     """
 
-    velocity_limit: float | None = None
+    velocity_limit: dict[str, float] | float | None = None
     """Velocity limit of the joints in the group. Defaults to None.
 
-    If None, the limit is set to infinity.
+    If None, the limit is set to the value specified in the USD joint prim.
     """
 
     stiffness: dict[str, float] | float | None = MISSING

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

@@ -15,7 +15,8 @@ Currently, the following models are supported:
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 from omni.isaac.core.utils.types import ArticulationActions
 

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

@@ -6,7 +6,8 @@
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 from omni.isaac.core.utils.types import ArticulationActions
 

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

@@ -116,6 +116,7 @@ The following snippet shows how use the :class:`AppLauncher` in different ways:
 .. _`Native Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-kit-remote
 .. _`Websocket Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-webrtc
 .. _`WebRTC Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-websocket
+
 """
 
 from __future__ import annotations
@@ -125,8 +126,7 @@ import faulthandler
 import os
 import re
 import sys
-from typing import Any
-from typing_extensions import Literal
+from typing import Any, Literal
 
 from omni.isaac.kit import SimulationApp
 

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

@@ -9,8 +9,9 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from prettytable import PrettyTable
-from typing import TYPE_CHECKING, Sequence
+from typing import TYPE_CHECKING
 
 import carb
 import omni.physics.tensors.impl.api as physx
@@ -729,8 +730,7 @@ class Articulation(RigidObject):
         table.align["Name"] = "l"
         # add info on each term
         for index, name in enumerate(self.joint_names):
-            table.add_row(
-                [
+            table.add_row([
                 index,
                 name,
                 stiffnesses[index],
@@ -740,7 +740,6 @@ class Articulation(RigidObject):
                 position_limits[index],
                 velocity_limits[index],
                 effort_limits[index],
-                ]
-            )
+            ])
         # convert table to string
         carb.log_info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + table.get_string())

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

@@ -4,7 +4,6 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 from dataclasses import MISSING
-from typing import Dict
 
 from omni.isaac.orbit.actuators import ActuatorBaseCfg
 from omni.isaac.orbit.utils import configclass
@@ -24,9 +23,9 @@ class ArticulationCfg(RigidObjectCfg):
         """Initial state of the articulation."""
 
         # root position
-        joint_pos: Dict[str, float] = {".*": 0.0}
+        joint_pos: dict[str, float] = {".*": 0.0}
         """Joint positions of the joints. Defaults to 0.0 for all joints."""
-        joint_vel: Dict[str, float] = {".*": 0.0}
+        joint_vel: dict[str, float] = {".*": 0.0}
         """Joint velocities of the joints. Defaults to 0.0 for all joints."""
 
     ##
@@ -38,5 +37,5 @@ class ArticulationCfg(RigidObjectCfg):
     soft_joint_pos_limit_factor: float = 1.0
     """Fraction specifying the range of DOF position limits (parsed from the asset) to use.
     Defaults to 1.0."""
-    actuators: Dict[str, ActuatorBaseCfg] = MISSING
+    actuators: dict[str, ActuatorBaseCfg] = MISSING
     """Actuators for the robot with corresponding joint names."""

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

@@ -5,7 +5,6 @@
 
 import torch
 from dataclasses import dataclass
-from typing import List
 
 from ..rigid_object import RigidObjectData
 
@@ -18,7 +17,7 @@ class ArticulationData(RigidObjectData):
     # Properties.
     ##
 
-    joint_names: List[str] = None
+    joint_names: list[str] = None
     """Joint names in the order parsed by the simulation view."""
 
     ##

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

@@ -9,7 +9,8 @@ import inspect
 import re
 import weakref
 from abc import ABC, abstractmethod
-from typing import TYPE_CHECKING, Any, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING, Any
 
 import omni.kit.app
 import omni.timeline

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

@@ -6,7 +6,7 @@
 from __future__ import annotations
 
 from dataclasses import MISSING
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.sim import SpawnerCfg
 from omni.isaac.orbit.utils import configclass

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

@@ -6,7 +6,8 @@
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 import carb
 import omni.physics.tensors.impl.api as physx

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/markers/point_marker.py

@@ -9,7 +9,7 @@ from __future__ import annotations
 
 import numpy as np
 import torch
-from typing import Sequence
+from collections.abc import Sequence
 
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/markers/static_marker.py

@@ -9,7 +9,7 @@ from __future__ import annotations
 
 import numpy as np
 import torch
-from typing import Sequence
+from collections.abc import Sequence
 
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils

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

@@ -11,8 +11,9 @@ import builtins
 import math
 import numpy as np
 import scipy.spatial.transform as tf
+from collections.abc import Sequence
 from dataclasses import dataclass
-from typing import Any, Sequence
+from typing import Any
 
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/sensors/height_scanner/height_scanner.py

@@ -7,8 +7,8 @@ from __future__ import annotations
 
 import numpy as np
 import scipy.spatial.transform as tf
+from collections.abc import Sequence
 from dataclasses import dataclass
-from typing import Sequence
 
 import omni
 import omni.isaac.core.utils.prims as prim_utils

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/sensors/height_scanner/height_scanner_marker.py

@@ -9,7 +9,7 @@ from __future__ import annotations
 
 import numpy as np
 import torch
-from typing import Sequence
+from collections.abc import Sequence
 
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/utils/kit.py

@@ -7,7 +7,7 @@ from __future__ import annotations
 
 import contextlib
 import math
-from typing import Sequence
+from collections.abc import Sequence
 
 import carb
 import omni.isaac.core.utils.nucleus as nucleus_utils

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

@@ -6,7 +6,7 @@
 from __future__ import annotations
 
 from dataclasses import MISSING
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.utils import configclass
 

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

@@ -6,8 +6,8 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from dataclasses import MISSING
-from typing import Sequence
 
 from omni.isaac.orbit.utils import configclass
 

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

@@ -6,8 +6,8 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from dataclasses import MISSING
-from typing import Sequence
 
 from omni.isaac.orbit.utils import configclass
 from omni.isaac.orbit.utils.math import apply_delta_pose, compute_pose_error

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

@@ -8,7 +8,8 @@
 from __future__ import annotations
 
 from abc import ABC, abstractmethod
-from typing import Any, Callable
+from collections.abc import Callable
+from typing import Any
 
 
 class DeviceBase(ABC):

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

@@ -9,7 +9,7 @@ from __future__ import annotations
 
 import numpy as np
 import weakref
-from typing import Callable
+from collections.abc import Callable
 
 import carb
 import omni

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/se3_gamepad.py

@@ -7,8 +7,8 @@
 
 import numpy as np
 import weakref
+from collections.abc import Callable
 from scipy.spatial.transform.rotation import Rotation
-from typing import Callable, Tuple
 
 import carb
 import omni
@@ -127,7 +127,7 @@ class Se3Gamepad(DeviceBase):
         """
         self._additional_callbacks[key] = func
 
-    def advance(self) -> Tuple[np.ndarray, bool]:
+    def advance(self) -> tuple[np.ndarray, bool]:
         """Provides the result from gamepad event state.
 
         Returns:

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

@@ -9,7 +9,7 @@ from __future__ import annotations
 
 import numpy as np
 import weakref
-from typing import Callable
+from collections.abc import Callable
 
 import carb
 import omni

source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se3_keyboard.py

@@ -7,8 +7,8 @@
 
 import numpy as np
 import weakref
+from collections.abc import Callable
 from scipy.spatial.transform.rotation import Rotation
-from typing import Callable, Tuple
 
 import carb
 import omni
@@ -117,7 +117,7 @@ class Se3Keyboard(DeviceBase):
         """
         self._additional_callbacks[key] = func
 
-    def advance(self) -> Tuple[np.ndarray, bool]:
+    def advance(self) -> tuple[np.ndarray, bool]:
         """Provides the result from keyboard event state.
 
         Returns:

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

@@ -11,7 +11,7 @@ import hid
 import numpy as np
 import threading
 import time
-from typing import Callable
+from collections.abc import Callable
 
 from ..device_base import DeviceBase
 from .utils import convert_buffer

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

@@ -11,8 +11,8 @@ import hid
 import numpy as np
 import threading
 import time
+from collections.abc import Callable
 from scipy.spatial.transform.rotation import Rotation
-from typing import Callable
 
 from ..device_base import DeviceBase
 from .utils import convert_buffer

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

@@ -7,7 +7,8 @@ from __future__ import annotations
 
 import builtins
 import torch
-from typing import Any, Dict, Sequence, Union
+from collections.abc import Sequence
+from typing import Any
 
 import omni.isaac.core.utils.torch as torch_utils
 
@@ -18,7 +19,7 @@ from omni.isaac.orbit.utils.timer import Timer
 
 from .base_env_cfg import BaseEnvCfg
 
-VecEnvObs = Dict[str, Union[torch.Tensor, Dict[str, torch.Tensor]]]
+VecEnvObs = dict[str, torch.Tensor | dict[str, torch.Tensor]]
 """Observation returned by the environment.
 
 The observations are stored in a dictionary. The keys are the group to which the observations belong.

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

@@ -7,7 +7,8 @@
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 from omni.isaac.orbit.managers import CommandTerm
 

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

@@ -8,7 +8,8 @@
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 from omni.isaac.orbit.assets import Articulation
 from omni.isaac.orbit.managers import CommandTerm

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

@@ -8,7 +8,8 @@
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 from omni.isaac.orbit.assets import Articulation
 from omni.isaac.orbit.managers import CommandTerm

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

@@ -8,7 +8,8 @@
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 import omni.isaac.orbit.utils.math as math_utils
 from omni.isaac.orbit.assets import Articulation

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/curriculums.py

@@ -11,7 +11,8 @@ the curriculum introduced by the function.
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
     from omni.isaac.orbit.envs import RLTaskEnv

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

@@ -9,7 +9,8 @@ import gymnasium as gym
 import math
 import numpy as np
 import torch
-from typing import Any, ClassVar, Dict, Sequence, Tuple
+from collections.abc import Sequence
+from typing import Any, ClassVar
 
 from omni.isaac.version import get_version
 
@@ -18,7 +19,7 @@ from omni.isaac.orbit.managers import CommandManager, CurriculumManager, RewardM
 from .base_env import BaseEnv, VecEnvObs
 from .rl_task_env_cfg import RLTaskEnvCfg
 
-VecEnvStepReturn = Tuple[VecEnvObs, torch.Tensor, torch.Tensor, torch.Tensor, Dict]
+VecEnvStepReturn = tuple[VecEnvObs, torch.Tensor, torch.Tensor, torch.Tensor, dict]
 """The environment signals processed at the end of each step.
 
 The tuple contains batched information for each sub-environment. The information is stored in the following order:
@@ -286,12 +287,10 @@ class RLTaskEnv(BaseEnv, gym.Env):
             if has_concatenated_obs:
                 self.single_observation_space[group_name] = gym.spaces.Box(low=-np.inf, high=np.inf, shape=group_dim)
             else:
-                self.single_observation_space[group_name] = gym.spaces.Dict(
-                    {
+                self.single_observation_space[group_name] = gym.spaces.Dict({
                     term_name: gym.spaces.Box(low=-np.inf, high=np.inf, shape=term_dim)
                     for term_name, term_dim in zip(group_term_names, group_term_dim)
-                    }
-                )
+                })
         # action space (unbounded since we don't impose any limits)
         action_dim = sum(self.action_manager.action_term_dim)
         self.single_action_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(action_dim,))

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

@@ -9,8 +9,9 @@ from __future__ import annotations
 
 import torch
 from abc import abstractmethod
+from collections.abc import Sequence
 from prettytable import PrettyTable
-from typing import TYPE_CHECKING, Sequence
+from typing import TYPE_CHECKING
 
 from omni.isaac.orbit.assets import AssetBase
 

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

@@ -11,8 +11,9 @@ import inspect
 import torch
 import weakref
 from abc import abstractmethod
+from collections.abc import Sequence
 from prettytable import PrettyTable
-from typing import TYPE_CHECKING, Sequence
+from typing import TYPE_CHECKING
 
 import omni.kit.app
 

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

@@ -8,8 +8,9 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from prettytable import PrettyTable
-from typing import TYPE_CHECKING, Sequence
+from typing import TYPE_CHECKING
 
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import CurriculumTermCfg

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

@@ -8,7 +8,8 @@ from __future__ import annotations
 import copy
 import inspect
 from abc import ABC, abstractmethod
-from typing import TYPE_CHECKING, Any, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING, Any
 
 import carb
 

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

@@ -8,8 +8,9 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import TYPE_CHECKING, Any, Callable
+from typing import TYPE_CHECKING, Any
 
 from omni.isaac.orbit.utils import configclass
 from omni.isaac.orbit.utils.noise import NoiseCfg

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

@@ -8,8 +8,9 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from prettytable import PrettyTable
-from typing import TYPE_CHECKING, Sequence
+from typing import TYPE_CHECKING
 
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import ObservationGroupCfg, ObservationTermCfg

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

@@ -8,8 +8,9 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from prettytable import PrettyTable
-from typing import TYPE_CHECKING, Sequence
+from typing import TYPE_CHECKING
 
 import carb
 

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

@@ -8,8 +8,9 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from prettytable import PrettyTable
-from typing import TYPE_CHECKING, Sequence
+from typing import TYPE_CHECKING
 
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import RewardTermCfg

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

@@ -8,8 +8,9 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from prettytable import PrettyTable
-from typing import TYPE_CHECKING, Sequence
+from typing import TYPE_CHECKING
 
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import TerminationTermCfg

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

@@ -7,7 +7,8 @@ from __future__ import annotations
 
 import builtins
 import torch
-from typing import Any, Sequence
+from collections.abc import Sequence
+from typing import Any
 
 import carb
 import omni.usd

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

@@ -9,9 +9,9 @@ import math
 import numpy as np
 import re
 import torch
+from collections.abc import Sequence
 from tensordict import TensorDict
-from typing import TYPE_CHECKING, Any, Sequence
-from typing_extensions import Literal
+from typing import TYPE_CHECKING, Any, Literal
 
 import omni.kit.commands
 import omni.usd

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

@@ -6,7 +6,7 @@
 from __future__ import annotations
 
 from dataclasses import MISSING
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.sim import FisheyeCameraCfg, PinholeCameraCfg
 from omni.isaac.orbit.utils import configclass

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

@@ -11,8 +11,8 @@ import math
 import numpy as np
 import torch
 import torch.nn.functional as F
-from typing import Sequence
-from typing_extensions import Literal
+from collections.abc import Sequence
+from typing import Literal
 
 import omni.isaac.core.utils.stage as stage_utils
 import warp as wp

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

@@ -9,7 +9,8 @@
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 import omni.physics.tensors.impl.api as physx
 from pxr import PhysxSchema

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

@@ -6,7 +6,8 @@
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 import carb
 import omni.physics.tensors.impl.api as physx

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/patterns_cfg.py

@@ -8,8 +8,8 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Callable, Sequence
 from dataclasses import MISSING
-from typing import Callable, Sequence
 
 from omni.isaac.orbit.utils import configclass
 

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

@@ -8,7 +8,8 @@ from __future__ import annotations
 import numpy as np
 import re
 import torch
-from typing import TYPE_CHECKING, ClassVar, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING, ClassVar
 
 import carb
 import omni.physics.tensors.impl.api as physx

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

@@ -6,9 +6,9 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Sequence
 from tensordict import TensorDict
-from typing import TYPE_CHECKING, ClassVar, Sequence
-from typing_extensions import Literal
+from typing import TYPE_CHECKING, ClassVar, Literal
 
 import omni.physics.tensors.impl.api as physx
 from omni.isaac.core.prims import XFormPrimView

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

@@ -7,7 +7,7 @@
 
 from __future__ import annotations
 
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.utils import configclass
 

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

@@ -15,7 +15,8 @@ import inspect
 import torch
 import weakref
 from abc import ABC, abstractmethod
-from typing import TYPE_CHECKING, Any, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING, Any
 
 import omni.kit.app
 import omni.timeline

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

@@ -6,7 +6,7 @@
 from __future__ import annotations
 
 from dataclasses import MISSING
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
 from omni.isaac.orbit.utils import configclass

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

@@ -11,7 +11,7 @@ configuring the environment instances, viewer settings, and simulation parameter
 
 from __future__ import annotations
 
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.utils import configclass
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files_cfg.py

@@ -5,8 +5,8 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import Callable
 
 from omni.isaac.orbit.sim import converters, schemas
 from omni.isaac.orbit.sim.spawners import materials

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

@@ -5,9 +5,9 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import Callable
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.sim.spawners.spawner_cfg import SpawnerCfg
 from omni.isaac.orbit.utils import configclass

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

@@ -5,9 +5,9 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import Callable
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.utils import configclass
 

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

@@ -5,8 +5,8 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import Callable
 
 from omni.isaac.orbit.utils import configclass
 

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

@@ -5,8 +5,8 @@
 
 from __future__ import annotations
 
-from typing import Callable
-from typing_extensions import Literal
+from collections.abc import Callable
+from typing import Literal
 
 from omni.isaac.orbit.sim.spawners.spawner_cfg import SpawnerCfg
 from omni.isaac.orbit.utils import configclass

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

@@ -5,9 +5,9 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import Callable
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.sim.spawners import materials
 from omni.isaac.orbit.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/spawner_cfg.py

@@ -5,8 +5,8 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import Callable
 
 from pxr import Usd
 

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

@@ -10,7 +10,8 @@ from __future__ import annotations
 import functools
 import inspect
 import re
-from typing import TYPE_CHECKING, Any, Callable
+from collections.abc import Callable
+from typing import TYPE_CHECKING, Any
 
 import carb
 import omni.isaac.core.utils.stage as stage_utils

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

@@ -9,7 +9,8 @@ import copy
 import functools
 import numpy as np
 import trimesh
-from typing import TYPE_CHECKING, Callable
+from collections.abc import Callable
+from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
     from .hf_terrains_cfg import HfTerrainBaseCfg

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

@@ -16,9 +16,9 @@ from __future__ import annotations
 
 import numpy as np
 import trimesh
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import Callable
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.utils import configclass
 

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

@@ -8,7 +8,8 @@ from __future__ import annotations
 import numpy as np
 import torch
 import trimesh
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 import warp
 from pxr import UsdGeom

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

@@ -6,8 +6,7 @@
 from __future__ import annotations
 
 from dataclasses import MISSING
-from typing import TYPE_CHECKING
-from typing_extensions import Literal
+from typing import TYPE_CHECKING, Literal
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.utils import configclass

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

@@ -809,12 +809,10 @@ def repeated_objects_terrain(
     meshes_list = list()
     # compute quantities
     origin = np.asarray((0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.5 * height))
-    platform_corners = np.asarray(
-        [
+    platform_corners = np.asarray([
         [origin[0] - cfg.platform_width / 2, origin[1] - cfg.platform_width / 2],
         [origin[0] + cfg.platform_width / 2, origin[1] + cfg.platform_width / 2],
-        ]
-    )
+    ])
     platform_corners[0, :] *= 1 - platform_clearance
     platform_corners[1, :] *= 1 + platform_clearance
     # sample center for objects

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

@@ -6,7 +6,7 @@
 from __future__ import annotations
 
 from dataclasses import MISSING
-from typing_extensions import Literal
+from typing import Literal
 
 import omni.isaac.orbit.terrains.trimesh.mesh_terrains as mesh_terrains
 import omni.isaac.orbit.terrains.trimesh.utils as mesh_utils_terrains

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

@@ -17,7 +17,7 @@ from __future__ import annotations
 import io
 import os
 import tempfile
-from typing_extensions import Literal
+from typing import Literal
 
 import carb
 import omni.client

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

@@ -8,10 +8,10 @@ from __future__ import annotations
 """Sub-module that provides a wrapper around the Python 3.7 onwards ``dataclasses`` module."""
 
 import inspect
-import sys
+from collections.abc import Callable
 from copy import deepcopy
 from dataclasses import MISSING, Field, dataclass, field, replace
-from typing import Any, Callable, ClassVar
+from typing import Any, ClassVar
 
 from .dict import class_to_dict, update_class_from_dict
 
@@ -228,9 +228,6 @@ def _add_annotation_types(cls):
             elif key != value.__name__:
                 # note: we don't want to add type annotations for nested configclass. Thus, we check if
                 #   the name of the type matches the name of the variable.
-                if sys.version_info < (3, 10):
-                    hints[key] = type[value]
-                else:
                 # since Python 3.10, type hints are stored as strings
                 hints[key] = f"type[{value.__name__}]"
 

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

@@ -10,7 +10,8 @@ from __future__ import annotations
 import collections.abc
 import hashlib
 import json
-from typing import Any, Iterable, Mapping
+from collections.abc import Iterable, Mapping
+from typing import Any
 
 from .array import TENSOR_TYPE_CONVERSIONS, TENSOR_TYPES
 from .string import callable_to_string, string_to_callable

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/yaml.py

@@ -7,12 +7,11 @@
 
 import os
 import yaml
-from typing import Dict, Union
 
 from omni.isaac.orbit.utils import class_to_dict
 
 
-def load_yaml(filename: str) -> Dict:
+def load_yaml(filename: str) -> dict:
     """Loads an input PKL file safely.
 
     Args:
@@ -31,7 +30,7 @@ def load_yaml(filename: str) -> Dict:
     return data
 
 
-def dump_yaml(filename: str, data: Union[Dict, object], sort_keys: bool = False):
+def dump_yaml(filename: str, data: dict | object, sort_keys: bool = False):
     """Saves data into a YAML file safely.
 
     Note:

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

@@ -10,7 +10,7 @@ from __future__ import annotations
 import numpy as np
 import torch
 import torch.nn.functional
-from typing_extensions import Literal
+from typing import Literal
 
 """
 General

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/noise_cfg.py

@@ -6,8 +6,8 @@
 from __future__ import annotations
 
 import torch
+from collections.abc import Callable
 from dataclasses import MISSING
-from typing import Callable
 
 from omni.isaac.orbit.utils import configclass
 

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

@@ -11,7 +11,8 @@ import ast
 import importlib
 import inspect
 import re
-from typing import Any, Callable, Sequence
+from collections.abc import Callable, Sequence
+from typing import Any
 
 """
 String formatting.

source/extensions/omni.isaac.orbit/setup.py

@@ -28,8 +28,7 @@ INSTALL_REQUIRES = [
     "gymnasium==0.29.0",
     # procedural-generation
     "trimesh",
-    "pyglet==1.5.27; python_version < '3.8'",  # pyglet 2.0 requires python 3.8
-    "pyglet; python_version >= '3.8'",
+    "pyglet",
 ]
 
 # Installation operation
@@ -44,13 +43,14 @@ setup(
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     license="BSD-3-Clause",
     include_package_data=True,
-    python_requires=">=3.7",
+    python_requires=">=3.10",
     install_requires=INSTALL_REQUIRES,
     packages=["omni.isaac.orbit"],
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
         "Isaac Sim :: 2023.1.0-hotfix.1",
+        "Isaac Sim :: 2023.1.1",
     ],
     zip_safe=False,
 )

source/extensions/omni.isaac.orbit/test/utils/test_configclass.py

@@ -19,12 +19,12 @@ simulation_app = app_launcher.app
 
 import copy
 import os
-import sys
 import traceback
 import unittest
+from collections.abc import Callable
 from dataclasses import MISSING, asdict, field
 from functools import wraps
-from typing import Callable, ClassVar
+from typing import ClassVar
 
 import carb
 
@@ -651,10 +651,7 @@ class TestConfigClass(unittest.TestCase):
         cfg = DummyClassCfg()
 
         # since python 3.10, annotations are stored as strings
-        if sys.version_info >= (3, 10):
         annotations = {k: eval(v) for k, v in cfg.__annotations__.items()}
-        else:
-            annotations = cfg.__annotations__
         # check types
         self.assertEqual(annotations["class_name_1"], type)
         self.assertEqual(annotations["class_name_2"], type[DummyClass])

source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py

@@ -3,8 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Configuration for a simple Cartpole robot
-"""
+"""Configuration for a simple Cartpole robot."""
 
 from __future__ import annotations
 

source/extensions/omni.isaac.orbit_assets/setup.py

@@ -26,8 +26,13 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.7",
+    python_requires=">=3.10",
     packages=["omni.isaac.orbit_assets"],
-    classifiers=["Natural Language :: English", "Programming Language :: Python :: 3.7"],
+    classifiers=[
+        "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 2023.1.0-hotfix.1",
+        "Isaac Sim :: 2023.1.1",
+    ],
     zip_safe=False,
 )

source/extensions/omni.isaac.orbit_tasks/docs/CHANGELOG.rst

@@ -2,7 +2,7 @@ Changelog
 ---------
 
 0.5.5 (2024-02-05)
-~~~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~~~~~
 
 Fixed
 ^^^^^

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/curriculums.py

@@ -12,7 +12,8 @@ the curriculum introduced by the function.
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING, Sequence
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 from omni.isaac.orbit.assets import Articulation
 from omni.isaac.orbit.managers import SceneEntityCfg

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/robomimic_data_collector.py

@@ -12,7 +12,7 @@ import json
 import numpy as np
 import os
 import torch
-from typing import Iterable
+from collections.abc import Iterable
 
 import carb
 

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/rl_cfg.py

@@ -6,7 +6,7 @@
 from __future__ import annotations
 
 from dataclasses import MISSING
-from typing_extensions import Literal
+from typing import Literal
 
 from omni.isaac.orbit.utils import configclass
 

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/skrl.py

@@ -247,12 +247,10 @@ class SkrlSequentialLogTrainer(Trainer):
         for timestep in tqdm.tqdm(range(self.initial_timestep, self.timesteps), disable=self.disable_progressbar):
             # compute actions
             with torch.no_grad():
-                actions = torch.vstack(
-                    [
+                actions = torch.vstack([
                     agent.act(states[scope[0] : scope[1]], timestep=timestep, timesteps=self.timesteps)[0]
                     for agent, scope in zip(self.agents, self.agents_scope)
-                    ]
-                )
+                ])
 
             # step the environments
             next_states, rewards, terminated, truncated, infos = self.env.step(actions)

source/extensions/omni.isaac.orbit_tasks/setup.py

@@ -54,7 +54,7 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.7",
+    python_requires=">=3.10",
     install_requires=INSTALL_REQUIRES,
     extras_require=EXTRAS_REQUIRE,
     packages=["omni.isaac.orbit_tasks"],
@@ -62,6 +62,7 @@ setup(
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
         "Isaac Sim :: 2023.1.0-hotfix.1",
+        "Isaac Sim :: 2023.1.1",
     ],
     zip_safe=False,
 )

source/standalone/environments/state_machine/lift_cube_sm.py

@@ -39,7 +39,7 @@ simulation_app = app_launcher.app
 import gymnasium as gym
 import torch
 import traceback
-from typing import Sequence
+from collections.abc import Sequence
 
 import carb
 import warp as wp