mani-skill-nightly 2025.10.21.2011__py3-none-any.whl → 2025.10.22.157__py3-none-any.whl

mani_skill/sensors/camera.py

@@ -2,7 +2,7 @@ from __future__ import annotations
 
 import copy
 from dataclasses import dataclass
-from typing import TYPE_CHECKING, Dict, List, Optional, Union
+from typing import TYPE_CHECKING, Optional, Union
 
 import numpy as np
 import sapien
@@ -68,7 +68,7 @@ class CameraConfig(BaseSensorConfig):
 
 
 def update_camera_configs_from_dict(
-    camera_configs: Dict[str, CameraConfig], config_dict: Dict[str, dict]
+    camera_configs: dict[str, CameraConfig], config_dict: dict[str, dict]
 ):
     # Update CameraConfig to StereoDepthCameraConfig
     if config_dict.pop("use_stereo_depth", False):
@@ -264,8 +264,8 @@ def normalize_depth(depth, min_depth=0, max_depth=None):
 
 
 def camera_observations_to_images(
-    observations: Dict[str, torch.Tensor], max_depth=None
-) -> List[Array]:
+    observations: dict[str, torch.Tensor], max_depth=None
+) -> list[Array]:
     """Parse images from camera observations."""
     images = dict()
     for key in observations:

mani_skill/trajectory/replay_trajectory.py

@@ -399,7 +399,6 @@ def _main(
     # Load associated json
     json_path = traj_path.replace(".h5", ".json")
     json_data = io_utils.load_json(json_path)
-    env_kwargs["sim_config"]["scene_config"]["gravity"] = np.array(env_kwargs["sim_config"]["scene_config"]["gravity"])
     env = gym.make(env_id, **env_kwargs)
     if isinstance(env.action_space, gym.spaces.Dict):
         logger.warning(

mani_skill/utils/assets/data.py

@@ -4,7 +4,7 @@ Asset sources and tooling for managing the assets
 
 import os
 from dataclasses import dataclass
-from typing import Dict, List, Optional
+from typing import Optional
 
 from mani_skill import ASSET_DIR, PACKAGE_ASSET_DIR
 from mani_skill.utils import io_utils
@@ -27,9 +27,9 @@ class DataSource:
     output_dir: str = ASSET_DIR
 
 
-DATA_SOURCES: Dict[str, DataSource] = {}
+DATA_SOURCES: dict[str, DataSource] = {}
 """Data sources map data source IDs to their respective DataSource objects which contain info on what the data is and where to download it"""
-DATA_GROUPS: Dict[str, List[str]] = {}
+DATA_GROUPS: dict[str, list[str]] = {}
 """Data groups map group ids (typically environment IDs) to a list of data source/group IDs for easy group management. data groups can be done hierarchicaly"""
 
 

mani_skill/utils/building/_mjcf_loader.py

@@ -44,7 +44,7 @@ from collections import defaultdict
 from copy import deepcopy
 from dataclasses import dataclass
 from functools import reduce
-from typing import Any, Dict, List, Literal, Tuple, Union
+from typing import Any, Literal, Tuple, Union
 from xml.etree.ElementTree import Element
 
 import numpy as np
@@ -98,7 +98,7 @@ def _str_to_float(string: str, delimiter=" "):
     return res
 
 
-def _merge_attrib(default_attrib: dict, incoming_attribs: Union[List[dict], dict]):
+def _merge_attrib(default_attrib: dict, incoming_attribs: Union[list[dict], dict]):
     def helper_merge(a: dict, b: dict, path=[]):
         for key in b:
             if key in a:
@@ -199,14 +199,14 @@ class MJCFLoader:
         # self._link_min_patch_radius = dict()
         # self._link_density = dict()
 
-        self._defaults: Dict[str, Element] = dict()
+        self._defaults: dict[str, Element] = dict()
         self._assets = dict()
         self._materials = dict()
-        self._textures: Dict[str, MJCFTexture] = dict()
-        self._meshes: Dict[str, Element] = dict()
+        self._textures: dict[str, MJCFTexture] = dict()
+        self._meshes: dict[str, Element] = dict()
 
-        self._link2builder: Dict[str, LinkBuilder] = dict()
-        self._link2parent_joint: Dict[str, Any] = dict()
+        self._link2builder: dict[str, LinkBuilder] = dict()
+        self._link2parent_joint: dict[str, Any] = dict()
         self._group_count = 0
 
     def set_scene(self, scene):
@@ -735,7 +735,7 @@ class MJCFLoader:
 
     def _parse_mjcf(
         self, mjcf_string: str
-    ) -> Tuple[List[ArticulationBuilder], List[ActorBuilder], None]:
+    ) -> Tuple[list[ArticulationBuilder], list[ActorBuilder], None]:
         """Helper function for self.parse"""
         xml: Element = ET.fromstring(mjcf_string.encode("utf-8"))
         self.xml = xml
@@ -793,8 +793,8 @@ class MJCFLoader:
 
         # NOTE (stao): For now we assume there is only one articulation. Some setups like Aloha 2 are technically 2 articulations
         # but you can treat it as a single one anyway
-        articulation_builders: List[ArticulationBuilder] = []
-        actor_builders: List[ActorBuilder] = []
+        articulation_builders: list[ArticulationBuilder] = []
+        actor_builders: list[ActorBuilder] = []
         for i, body in enumerate(xml.find("worldbody").findall("body")):
             # determine first if this body is really an articulation or a actor
             has_freejoint = body.find("freejoint") is not None
@@ -899,7 +899,7 @@ class MJCFLoader:
             mjcf_file, package_dir
         )
 
-        articulations: List[PhysxArticulation] = []
+        articulations: list[PhysxArticulation] = []
         for b in articulation_builders:
             articulations.append(b.build())
 

mani_skill/utils/building/actor_builder.py

@@ -1,6 +1,6 @@
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, List, Optional, Sequence, Union
+from typing import TYPE_CHECKING, Optional, Sequence, Union
 
 import numpy as np
 import sapien
@@ -38,7 +38,7 @@ class ActorBuilder(SAPIENActorBuilder):
     def set_scene_idxs(
         self,
         scene_idxs: Optional[
-            Union[List[int], Sequence[int], torch.Tensor, np.ndarray]
+            Union[list[int], Sequence[int], torch.Tensor, np.ndarray]
         ] = None,
     ):
         """
@@ -267,9 +267,9 @@ class ActorBuilder(SAPIENActorBuilder):
     def add_plane_repeated_visual(
         self,
         pose: sapien.Pose = sapien.Pose(),
-        half_size: List[float] = [5, 5],
+        half_size: list[float] = [5, 5],
         mat: sapien.render.RenderMaterial = None,
-        texture_repeat: List[float] = [1, 1],
+        texture_repeat: list[float] = [1, 1],
     ):
         """Procedurally generateds a repeated 2D texture. Works similarly to https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-material-texrepeat
 

mani_skill/utils/building/articulation_builder.py

@@ -1,6 +1,6 @@
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, List, Optional, Sequence, Union
+from typing import TYPE_CHECKING, Optional, Sequence, Union
 
 import numpy as np
 import sapien
@@ -37,7 +37,7 @@ class ArticulationBuilder(SapienArticulationBuilder):
     def set_scene_idxs(
         self,
         scene_idxs: Optional[
-            Union[List[int], Sequence[int], torch.Tensor, np.ndarray]
+            Union[list[int], Sequence[int], torch.Tensor, np.ndarray]
         ] = None,
     ):
         """
@@ -149,7 +149,7 @@ class ArticulationBuilder(SapienArticulationBuilder):
                 articulation_pose = to_sapien_pose(initial_pose_np)
             else:
                 articulation_pose = to_sapien_pose(initial_pose_np[i])
-            links: List[sapien.Entity] = self._build_entities(
+            links: list[sapien.Entity] = self._build_entities(
                 name_prefix=f"scene-{scene_idx}-{self.name}_",
                 initial_pose=articulation_pose,
             )

mani_skill/utils/building/mjcf_loader.py

@@ -1,6 +1,6 @@
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Any, List, TypedDict
+from typing import TYPE_CHECKING, Any, TypedDict
 
 from mani_skill.utils.building.actor_builder import ActorBuilder
 from mani_skill.utils.building.articulation_builder import ArticulationBuilder
@@ -13,9 +13,9 @@ from ._mjcf_loader import MJCFLoader as SAPIENMJCFLoader
 
 
 class ParsedMJCFData(TypedDict):
-    articulation_builders: List[ArticulationBuilder]
-    actor_builders: List[ActorBuilder]
-    cameras: List[Any]
+    articulation_builders: list[ArticulationBuilder]
+    actor_builders: list[ActorBuilder]
+    cameras: list[Any]
 
 
 class MJCFLoader(SAPIENMJCFLoader):
@@ -72,13 +72,13 @@ class MJCFLoader(SAPIENMJCFLoader):
         _parsed_mjcf_data["actor_builders"]
         cameras = _parsed_mjcf_data["cameras"]
 
-        articulations: List[Articulation] = []
+        articulations: list[Articulation] = []
         for b in articulation_builders[:1]:
             b.set_scene_idxs(scene_idxs)
             b.disable_self_collisions = self.disable_self_collisions
             articulations.append(b.build())
 
-        actors: List[Actor] = []
+        actors: list[Actor] = []
         # for b in actor_builders:
         #     actors.append(b.build())
 

mani_skill/utils/building/urdf_loader.py

@@ -1,6 +1,6 @@
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Any, List, TypedDict
+from typing import TYPE_CHECKING, Any, TypedDict
 
 from sapien.render import RenderCameraComponent
 from sapien.wrapper.urdf_loader import URDFLoader as SapienURDFLoader
@@ -15,9 +15,9 @@ if TYPE_CHECKING:
 
 
 class ParsedURDFData(TypedDict):
-    articulation_builders: List[ArticulationBuilder]
-    actor_builders: List[ActorBuilder]
-    cameras: List[Any]
+    articulation_builders: list[ArticulationBuilder]
+    actor_builders: list[ActorBuilder]
+    cameras: list[Any]
 
 
 class URDFLoader(SapienURDFLoader):
@@ -83,13 +83,13 @@ class URDFLoader(SapienURDFLoader):
                 "URDF contains multiple objects, call load_multiple instead"
             )
 
-        articulations: List[Articulation] = []
+        articulations: list[Articulation] = []
         for b in articulation_builders:
             b.set_scene_idxs(scene_idxs)
             b.disable_self_collisions = self.disable_self_collisions
             articulations.append(b.build())
 
-        actors: List[Actor] = []
+        actors: list[Actor] = []
         for b in actor_builders:
             actors.append(b.build())
 

mani_skill/utils/common.py

@@ -3,7 +3,7 @@ Common utilities often reused for internal code and task building for users.
 """
 
 from collections import defaultdict
-from typing import Dict, Optional, Sequence, Tuple, Union
+from typing import Optional, Sequence, Tuple, Union
 
 import gymnasium as gym
 import numpy as np
@@ -84,7 +84,7 @@ def dict_merge(dct: dict, merge_dct: dict):
 
 
 # TODO (stao): Consolidate this function with the one above..
-def merge_dicts(ds: Sequence[Dict], asarray=False):
+def merge_dicts(ds: Sequence[dict], asarray=False):
     """Merge multiple dicts with the same keys to a single one."""
     # NOTE(jigu): To be compatible with generator, we only iterate once.
     ret = defaultdict(list)

mani_skill/utils/geometry/bounding_cylinder.py

@@ -6,13 +6,13 @@ https://www.nayuki.io/page/smallest-enclosing-circle
 """
 
 import math
-from typing import List, Optional, Tuple
+from typing import Optional, Tuple
 
 import numpy as np
 
 
 def _compute_smallest_circle(
-    points: List[Tuple[float, float]]
+    points: list[Tuple[float, float]]
 ) -> Optional[Tuple[float, float, float]]:
     points = [(float(x), float(y)) for x, y in points]
     np.random.shuffle(points)
@@ -25,7 +25,7 @@ def _compute_smallest_circle(
 
 
 def _compute_circle_with_point(
-    points: List[Tuple[float, float]], p: Tuple[float, float]
+    points: list[Tuple[float, float]], p: Tuple[float, float]
 ) -> Tuple[float, float, float]:
     circle = (p[0], p[1], 0.0)
     for i, q in enumerate(points):
@@ -38,7 +38,7 @@ def _compute_circle_with_point(
 
 
 def _compute_circle_with_two_points(
-    points: List[Tuple[float, float]], p: Tuple[float, float], q: Tuple[float, float]
+    points: list[Tuple[float, float]], p: Tuple[float, float], q: Tuple[float, float]
 ) -> Tuple[float, float, float]:
     circle = _get_circle_from_diameter(p, q)
     left = right = None

mani_skill/utils/geometry/geometry.py

@@ -1,5 +1,3 @@
-from typing import Dict
-
 import numpy as np
 import sapien
 import sapien.physx as physx
@@ -153,7 +151,7 @@ def invert_transform(H: np.ndarray):
 
 def get_oriented_bounding_box_for_2d_points(
     points_2d: np.ndarray, resolution=0.0
-) -> Dict:
+) -> dict:
     assert len(points_2d.shape) == 2 and points_2d.shape[1] == 2
     if resolution > 0.0:
         points_2d = np.round(points_2d / resolution) * resolution

mani_skill/utils/geometry/trimesh_utils.py

@@ -1,5 +1,3 @@
-from typing import List
-
 ## TODO clean up the code here, too many functions that are plurals of one or the other and confusing naming
 import numpy as np
 import sapien
@@ -92,7 +90,7 @@ def get_actor_visual_meshes(actor: sapien.Entity):
     return meshes
 
 
-def merge_meshes(meshes: List[trimesh.Trimesh]):
+def merge_meshes(meshes: list[trimesh.Trimesh]):
     n, vs, fs = 0, [], []
     for mesh in meshes:
         v, f = mesh.vertices, mesh.faces

mani_skill/utils/gym_utils.py

@@ -1,8 +1,6 @@
 """various gymnasium/gym utilities used in ManiSkill, mostly to handle observation/action spaces and noramlization"""
 
 
-from typing import Dict
-
 import gymnasium as gym
 import numpy as np
 import torch
@@ -46,7 +44,7 @@ def find_max_episode_steps_value(env):
 
 def extract_scalars_from_info(
     info: dict, blacklist=(), batch_size=1
-) -> Dict[str, float]:
+) -> dict[str, float]:
     """Recursively extract scalar metrics from an info dict returned by env.step.
 
     Args:
@@ -54,7 +52,7 @@ def extract_scalars_from_info(
         blacklist (tuple, optional): keys to exclude.
 
     Returns:
-        Dict[str, float]: scalar metrics
+        dict[str, float]: scalar metrics
     """
     ret = {}
     for k, v in info.items():

mani_skill/utils/registration.py

@@ -4,7 +4,7 @@ import json
 import sys
 from copy import deepcopy
 from functools import partial
-from typing import TYPE_CHECKING, Dict, List, Optional, Type
+from typing import TYPE_CHECKING, Optional, Type
 
 import gymnasium as gym
 import torch
@@ -25,7 +25,7 @@ class EnvSpec:
         uid: str,
         cls: Type[BaseEnv],
         max_episode_steps=None,
-        asset_download_ids: Optional[List[str]] = [],
+        asset_download_ids: Optional[list[str]] = [],
         default_kwargs: dict = None,
     ):
         """A specification for a ManiSkill environment."""
@@ -90,14 +90,14 @@ class EnvSpec:
         )
 
 
-REGISTERED_ENVS: Dict[str, EnvSpec] = {}
+REGISTERED_ENVS: dict[str, EnvSpec] = {}
 
 
 def register(
     name: str,
     cls: Type[BaseEnv],
     max_episode_steps=None,
-    asset_download_ids: List[str] = [],
+    asset_download_ids: list[str] = [],
     default_kwargs: dict = None,
 ):
     """Register a ManiSkill environment."""
@@ -193,7 +193,7 @@ def register_env(
     uid: str,
     max_episode_steps=None,
     override=False,
-    asset_download_ids: List[str] = [],
+    asset_download_ids: list[str] = [],
     **kwargs,
 ):
     """A decorator to register ManiSkill environments.
@@ -201,7 +201,7 @@ def register_env(
     Args:
         uid (str): unique id of the environment.
         max_episode_steps (int): maximum number of steps in an episode.
-        asset_download_ids (List[str]): asset download ids the environment depends on. When environments are created
+        asset_download_ids (list[str]): asset download ids the environment depends on. When environments are created
             this list is checked to see if the user has all assets downloaded and if not, prompt the user if they wish to download them.
         override (bool): whether to override the environment if it is already registered.
 

mani_skill/utils/sapien_utils.py

@@ -4,7 +4,7 @@ Utilities that work with the simulation / SAPIEN
 from __future__ import annotations
 
 import sys
-from typing import TYPE_CHECKING, Dict, List, Tuple, TypeVar
+from typing import TYPE_CHECKING, Tuple, TypeVar
 
 import numpy as np
 import sapien
@@ -27,11 +27,11 @@ from mani_skill.utils.structs.types import Array, Device
 T = TypeVar("T")
 
 
-def get_obj_by_name(objs: List[T], name: str, is_unique=True):
+def get_obj_by_name(objs: list[T], name: str, is_unique=True):
     """Get a object given the name.
 
     Args:
-        objs (List[T]): objs to query. Expect these objects to have a get_name function. These may be sapien.Entity, physx.PhysxArticulationLink etc.
+        objs (list[T]): objs to query. Expect these objects to have a get_name function. These may be sapien.Entity, physx.PhysxArticulationLink etc.
         name (str): name for query.
         is_unique (bool, optional):
             whether the name should be unique. Defaults to True.
@@ -40,7 +40,7 @@ def get_obj_by_name(objs: List[T], name: str, is_unique=True):
         RuntimeError: The name is not unique when @is_unique is True.
 
     Returns:
-        T or List[T]:
+        T or list[T]:
             matched T or Ts. None if no matches.
     """
     matched_objects = [x for x in objs if x.get_name() == name]
@@ -55,15 +55,15 @@ def get_obj_by_name(objs: List[T], name: str, is_unique=True):
         return None
 
 
-def get_objs_by_names(objs: List[T], names: List[str]) -> List[T]:
+def get_objs_by_names(objs: list[T], names: list[str]) -> list[T]:
     """Get a list of objects given a list of names from a larger list of objects (objs). The returned list is in the order of the names given
 
     Args:
-        objs (List[T]): objs to query. Expect these objects to have a get_name function. These may be sapien.Entity, physx.PhysxArticulationLink etc.
+        objs (list[T]): objs to query. Expect these objects to have a get_name function. These may be sapien.Entity, physx.PhysxArticulationLink etc.
         name (str): names to query.
 
     Returns:
-        T or List[T]:
+        T or list[T]:
             matched T or Ts. None if no matches.
     """
     assert isinstance(objs, (list, tuple)), type(objs)
@@ -76,7 +76,7 @@ def get_objs_by_names(objs: List[T], names: List[str]) -> List[T]:
     return ret
 
 
-def get_obj_by_type(objs: List[T], target_type: T, is_unique=True):
+def get_obj_by_type(objs: list[T], target_type: T, is_unique=True):
     matched_objects = [x for x in objs if type(x) == target_type]
     if len(matched_objects) > 1:
         if not is_unique:
@@ -112,14 +112,14 @@ def check_urdf_config(urdf_config: dict):
                 )
 
 
-def parse_urdf_config(config_dict: dict) -> Dict:
+def parse_urdf_config(config_dict: dict) -> dict:
     """Parse config from dict for SAPIEN URDF loader.
 
     Args:
         config_dict (dict): a dict containing link physical properties.
 
     Returns:
-        Dict: urdf config passed to `sapien.URDFLoader.load`.
+        dict: urdf config passed to `sapien.URDFLoader.load`.
     """
     # urdf_config = deepcopy(config_dict)
     urdf_config = dict()
@@ -214,8 +214,8 @@ def get_articulation_padded_state(articulation: physx.PhysxArticulation, max_dof
 # and check if the entity is the same
 # -------------------------------------------------------------------------- #
 def get_pairwise_contacts(
-    contacts: List[physx.PhysxContact], actor0: sapien.Entity, actor1: sapien.Entity
-) -> List[Tuple[physx.PhysxContact, bool]]:
+    contacts: list[physx.PhysxContact], actor0: sapien.Entity, actor1: sapien.Entity
+) -> list[Tuple[physx.PhysxContact, bool]]:
     """
     Given a list of contacts, return the list of contacts involving the two actors
     """
@@ -229,10 +229,10 @@ def get_pairwise_contacts(
 
 
 def get_multiple_pairwise_contacts(
-    contacts: List[physx.PhysxContact],
+    contacts: list[physx.PhysxContact],
     actor0: sapien.Entity,
-    actor1_list: List[sapien.Entity],
-) -> Dict[sapien.Entity, List[Tuple[physx.PhysxContact, bool]]]:
+    actor1_list: list[sapien.Entity],
+) -> dict[sapien.Entity, list[Tuple[physx.PhysxContact, bool]]]:
     """
     Given a list of contacts, return the dict of contacts involving the one actor and actors
     This function is used to avoid double for-loop when using `get_pairwise_contacts` with multiple actors
@@ -252,7 +252,7 @@ def get_multiple_pairwise_contacts(
     return pairwise_contacts
 
 
-def compute_total_impulse(contact_infos: List[Tuple[physx.PhysxContact, bool]]):
+def compute_total_impulse(contact_infos: list[Tuple[physx.PhysxContact, bool]]):
     total_impulse = np.zeros(3)
     for contact, flag in contact_infos:
         contact_impulse = np.sum([point.impulse for point in contact.points], axis=0)
@@ -262,7 +262,7 @@ def compute_total_impulse(contact_infos: List[Tuple[physx.PhysxContact, bool]]):
 
 
 def get_pairwise_contact_impulse(
-    contacts: List[physx.PhysxContact], actor0: sapien.Entity, actor1: sapien.Entity
+    contacts: list[physx.PhysxContact], actor0: sapien.Entity, actor1: sapien.Entity
 ):
     pairwise_contacts = get_pairwise_contacts(contacts, actor0, actor1)
     total_impulse = compute_total_impulse(pairwise_contacts)
@@ -270,8 +270,8 @@ def get_pairwise_contact_impulse(
 
 
 def get_cpu_actor_contacts(
-    contacts: List[physx.PhysxContact], actor: sapien.Entity
-) -> List[Tuple[physx.PhysxContact, bool]]:
+    contacts: list[physx.PhysxContact], actor: sapien.Entity
+) -> list[Tuple[physx.PhysxContact, bool]]:
     entity_contacts = []
     for contact in contacts:
         if contact.bodies[0].entity == actor:
@@ -282,8 +282,8 @@ def get_cpu_actor_contacts(
 
 
 def get_cpu_actors_contacts(
-    contacts: List[physx.PhysxContact], actors: List[sapien.Entity]
-) -> Dict[sapien.Entity, List[Tuple[physx.PhysxContact, bool]]]:
+    contacts: list[physx.PhysxContact], actors: list[sapien.Entity]
+) -> dict[sapien.Entity, list[Tuple[physx.PhysxContact, bool]]]:
     """
     This function is used to avoid double for-loop when using `get_actor_contacts` with multiple actors
     """

mani_skill/utils/scene_builder/ai2thor/constants.py

@@ -2,7 +2,6 @@ import json
 import os.path as osp
 from dataclasses import dataclass
 from pathlib import Path
-from typing import Dict
 
 from mani_skill import ASSET_DIR
 
@@ -143,7 +142,7 @@ def load_ai2thor_metadata():
 
 
 # This maps a scene set e.g. ProcTHOR to an adapter, metadata, and where the scenes are saved to. The adapter is a class that can load the scene set
-SCENE_SOURCE_TO_DATASET: Dict[str, SceneDataset] = {
+SCENE_SOURCE_TO_DATASET: dict[str, SceneDataset] = {
     "ProcTHOR": SceneDataset(
         metadata_path="ProcTHOR.json",
         dataset_path=osp.join(

mani_skill/utils/scene_builder/ai2thor/scene_builder.py

@@ -6,7 +6,7 @@ SceneBuilder for the AI2Thor scenes, using configurations and assets stored in h
 import json
 import os.path as osp
 from pathlib import Path
-from typing import Dict, List, Tuple, Union
+from typing import Tuple, Union
 
 import numpy as np
 import sapien
@@ -79,7 +79,7 @@ class AI2THORBaseSceneBuilder(SceneBuilder):
             SEMANTIC_ID_OBJECT_MAPPING,
             MOVEABLE_OBJECT_IDS,
         ) = load_ai2thor_metadata()
-        self.build_configs: List[AI2BuildConfig] = []
+        self.build_configs: list[AI2BuildConfig] = []
         if self.scene_dataset not in ALL_SCENE_CONFIGS:
             dataset_path = SCENE_SOURCE_TO_DATASET[self.scene_dataset].metadata_path
             with open(osp.join(DATASET_CONFIG_DIR, dataset_path)) as f:
@@ -93,7 +93,7 @@ class AI2THORBaseSceneBuilder(SceneBuilder):
             self.build_configs = ALL_SCENE_CONFIGS[self.scene_dataset]
 
         self._navigable_positions = [None] * len(self.build_configs)
-        self.build_config_idxs: List[int] = None
+        self.build_config_idxs: list[int] = None
 
     def _should_be_static(self, template_name: str):
         object_config_json = (
@@ -110,7 +110,7 @@ class AI2THORBaseSceneBuilder(SceneBuilder):
     # TODO (arth): figure out coacd building issues (currenlty fails on > 80% objs)
     def build(
         self,
-        build_config_idxs: Union[int, List[int]],
+        build_config_idxs: Union[int, list[int]],
         convex_decomposition="none",
     ):
         # build_config_idxs is a list of integers, where the ith value is the scene idx for the ith parallel env
@@ -121,10 +121,10 @@ class AI2THORBaseSceneBuilder(SceneBuilder):
 
         # save scene and movable objects when building scene
         self.build_config_idxs = build_config_idxs
-        self.scene_objects: Dict[str, Actor] = dict()
-        self.movable_objects: Dict[str, Actor] = dict()
-        self.articulations: Dict[str, Articulation] = dict()
-        self._default_object_poses: List[Tuple[Actor, sapien.Pose]] = []
+        self.scene_objects: dict[str, Actor] = dict()
+        self.movable_objects: dict[str, Actor] = dict()
+        self.articulations: dict[str, Articulation] = dict()
+        self._default_object_poses: list[Tuple[Actor, sapien.Pose]] = []
 
         # keep track of background objects separately as we need to disable mobile robot collisions
         # note that we will create a merged actor using these objects to represent the bg
@@ -292,5 +292,5 @@ class AI2THORBaseSceneBuilder(SceneBuilder):
             )
 
     @property
-    def navigable_positions(self) -> List[np.ndarray]:
+    def navigable_positions(self) -> list[np.ndarray]:
         return [self._navigable_positions[bci] for bci in self.build_config_idxs]

mani_skill/utils/scene_builder/control/planar/scene_builder.py

@@ -1,5 +1,3 @@
-from typing import List
-
 import numpy as np
 import sapien
 import sapien.render
@@ -11,7 +9,7 @@ from mani_skill.utils.scene_builder import SceneBuilder
 
 
 class PlanarSceneBuilder(SceneBuilder):
-    def build(self, build_config_idxs: List[int] = None):
+    def build(self, build_config_idxs: list[int] = None):
         # ground - a strip with length along +x
         self.ground = build_ground(
             self.scene,
@@ -31,4 +29,4 @@ class PlanarSceneBuilder(SceneBuilder):
             ),
         )
         self.wall.build_static(name="wall")
-        self.scene_objects: List[sapien.Entity] = [self.ground, self.wall]
+        self.scene_objects: list[sapien.Entity] = [self.ground, self.wall]

mani_skill/utils/scene_builder/kitchen_counter/scene_builder.py

@@ -1,6 +1,5 @@
 import os.path as osp
 from pathlib import Path
-from typing import List
 
 import numpy as np
 import sapien
@@ -34,7 +33,7 @@ class KitchenCounterSceneBuilder(SceneBuilder):
             floor_width = 500
         self.ground = build_ground(self.scene, floor_width=floor_width, altitude=0)
         self.table = table
-        self.scene_objects: List[sapien.Entity] = [self.table, self.ground]
+        self.scene_objects: list[sapien.Entity] = [self.table, self.ground]
 
     def initialize(self, env_idx: torch.Tensor):
         pass