remove bar separated typing hints; ruff format

mplib/planner.py

@@ -2,7 +2,7 @@
 
 from collections.abc import Callable
 from pathlib import Path
-from typing import Literal, Optional, Sequence
+from typing import Literal, Optional, Sequence, Union
 
 import numpy as np
 import toppra as ta
@@ -24,16 +24,16 @@ class Planner:
     # constructor ankor
     def __init__(
         self,
-        urdf: str | Path,
+        urdf: Union[str, Path],
         move_group: str,
         *,
-        srdf: Optional[str | Path] = None,
+        srdf: Union[str, Path, None] = None,
         new_package_keyword: str = "",
         use_convex: bool = False,
         user_link_names: Sequence[str] = [],
         user_joint_names: Sequence[str] = [],
-        joint_vel_limits: Optional[Sequence[float] | np.ndarray] = None,
-        joint_acc_limits: Optional[Sequence[float] | np.ndarray] = None,
+        joint_vel_limits: Union[Sequence[float], np.ndarray, None] = None,
+        joint_acc_limits: Union[Sequence[float], np.ndarray, None] = None,
         objects: list[FCLObject] = [],  # noqa: B006
         verbose: bool = False,
     ):
@@ -240,13 +240,13 @@ def IK(
         self,
         goal_pose: Pose,
         start_qpos: np.ndarray,
-        mask: Optional[Sequence[bool] | np.ndarray] = None,
+        mask: Union[Sequence[bool], np.ndarray, None] = None,
         *,
         n_init_qpos: int = 20,
         threshold: float = 1e-3,
         return_closest: bool = False,
         verbose: bool = False,
-    ) -> tuple[str, list[np.ndarray] | np.ndarray | None]:
+    ) -> tuple[str, Union[list[np.ndarray], np.ndarray, None]]:
         """
         Compute inverse kinematics
 
@@ -460,8 +460,10 @@ def update_attached_sphere(
 
     def update_attached_box(
         self,
-        size: Sequence[float]
-        | np.ndarray[tuple[Literal[3], Literal[1]], np.dtype[np.floating]],
+        size: Union[
+            Sequence[float],
+            np.ndarray[tuple[Literal[3], Literal[1]], np.dtype[np.floating]],
+        ],
         pose: Pose,
         art_name=None,
         link_id=-1,
@@ -544,7 +546,7 @@ def plan_qpos(
         constraint_jacobian: Optional[Callable[[np.ndarray, np.ndarray], None]] = None,
         constraint_tolerance: float = 1e-3,
         verbose: bool = False,
-    ) -> dict[str, str | np.ndarray | np.float64]:
+    ) -> dict[str, Union[str, np.ndarray, np.float64]]:
         """
         Plan a path from a specified joint position to a goal pose
 
@@ -630,7 +632,7 @@ def plan_pose(
         self,
         goal_pose: Pose,
         current_qpos: np.ndarray,
-        mask: Optional[list[bool] | np.ndarray] = None,
+        mask: Union[list[bool], np.ndarray, None] = None,
         *,
         time_step: float = 0.1,
         rrt_range: float = 0.1,
@@ -642,7 +644,7 @@ def plan_pose(
         constraint_jacobian: Optional[Callable] = None,
         constraint_tolerance: float = 1e-3,
         verbose: bool = False,
-    ) -> dict[str, str | np.ndarray | np.float64]:
+    ) -> dict[str, Union[str, np.ndarray, np.float64]]:
         """
         plan from a start configuration to a goal pose of the end-effector
 
@@ -708,7 +710,7 @@ def plan_screw(
         time_step: float = 0.1,
         wrt_world: bool = True,
         verbose: bool = False,
-    ) -> dict[str, str | np.ndarray | np.float64]:
+    ) -> dict[str, Union[str, np.ndarray, np.float64]]:
         # plan_screw ankor end
         """
         Plan from a start configuration to a goal pose of the end-effector using

mplib/sapien_utils/conversion.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import warnings
-from typing import Literal, Optional, Sequence
+from typing import Literal, Optional, Sequence, Union
 
 import numpy as np
 from sapien import Entity, Scene
@@ -51,7 +51,7 @@
 
 
 # TODO: link names?
-def convert_object_name(obj: PhysxArticulation | Entity) -> str:
+def convert_object_name(obj: Union[PhysxArticulation, Entity]) -> str:
     """
     Constructs a unique name for the corresponding mplib object.
     This is necessary because mplib objects assume unique names.
@@ -183,8 +183,8 @@ def update_from_simulation(self, *, update_attached_object: bool = True) -> None
 
     def check_collision_between(
         self,
-        obj_A: PhysxArticulation | Entity,
-        obj_B: PhysxArticulation | Entity,
+        obj_A: Union[PhysxArticulation, Entity],
+        obj_B: Union[PhysxArticulation, Entity],
         *,
         acm: AllowedCollisionMatrix = AllowedCollisionMatrix(),  # noqa: B008
     ) -> list[WorldCollisionResult]:
@@ -231,12 +231,12 @@ def check_collision_between(
 
     def distance_between(
         self,
-        obj_A: PhysxArticulation | Entity,
-        obj_B: PhysxArticulation | Entity,
+        obj_A: Union[PhysxArticulation, Entity],
+        obj_B: Union[PhysxArticulation, Entity],
         *,
         acm: AllowedCollisionMatrix = AllowedCollisionMatrix(),  # noqa: B008
         return_distance_only: bool = True,
-    ) -> WorldDistanceResult | float:
+    ) -> Union[WorldDistanceResult, float]:
         """
         Check distance-to-collision between two objects,
         which can either be a PhysxArticulation or an Entity.
@@ -281,8 +281,8 @@ def distance_between(
 
     def _get_collision_obj(
         self,
-        obj: PhysxArticulation | Entity,
-    ) -> FCLModel | FCLObject | None:
+        obj: Union[PhysxArticulation, Entity],
+    ) -> Union[FCLModel, FCLObject, None]:
         """Helper function to get mplib collision object from sapien object"""
         if isinstance(obj, PhysxArticulation) and (
             articulation := self.get_articulation(convert_object_name(obj))
@@ -300,7 +300,9 @@ def _get_collision_obj(
             )
 
     @staticmethod
-    def convert_physx_component(comp: PhysxRigidBaseComponent) -> FCLObject | None:
+    def convert_physx_component(
+        comp: PhysxRigidBaseComponent,
+    ) -> Union[FCLObject, None]:
         """
         Converts a SAPIEN physx.PhysxRigidBaseComponent to an FCLObject.
         All shapes in the returned FCLObject are already set at their world poses.
@@ -363,7 +365,9 @@ def convert_physx_component(comp: PhysxRigidBaseComponent) -> FCLObject | None:
         )
 
     # ----- Overloaded PlanningWorld methods to accept SAPIEN objects ----- #
-    def is_articulation_planned(self, articulation: PhysxArticulation | str) -> bool:  # type: ignore
+    def is_articulation_planned(
+        self, articulation: Union[PhysxArticulation, str]
+    ) -> bool:  # type: ignore
         """
         Check whether the given articulation is being planned
 
@@ -388,7 +392,7 @@ def is_articulation_planned(self, articulation: PhysxArticulation | str) -> bool
         return super().is_articulation_planned(articulation)
 
     def set_articulation_planned(  # type: ignore
-        self, articulation: PhysxArticulation | str, planned: bool
+        self, articulation: Union[PhysxArticulation, str], planned: bool
     ) -> None:
         """
         Sets the given articulation as being planned or not
@@ -413,7 +417,7 @@ def set_articulation_planned(  # type: ignore
             articulation = convert_object_name(articulation)
         super().set_articulation_planned(articulation, planned)
 
-    def has_object(self, obj: Entity | str) -> bool:
+    def has_object(self, obj: Union[Entity, str]) -> bool:
         """
         Check whether the given non-articulated object exists.
 
@@ -438,7 +442,7 @@ def has_object(self, obj: Entity | str) -> bool:
             obj = convert_object_name(obj)
         return super().has_object(obj)
 
-    def add_object(self, obj: FCLObject | Entity) -> None:
+    def add_object(self, obj: Union[FCLObject, Entity]) -> None:
         """
         Adds a non-articulated object to the PlanningWorld.
 
@@ -469,7 +473,7 @@ def add_object(self, obj: FCLObject | Entity) -> None:
         else:
             super().add_object(obj)
 
-    def remove_object(self, obj: Entity | str) -> None:
+    def remove_object(self, obj: Union[Entity, str]) -> None:
         """
         Removes a non-articulated object from the PlanningWorld.
 
@@ -492,7 +496,7 @@ def remove_object(self, obj: Entity | str) -> None:
             obj = convert_object_name(obj)
         super().remove_object(obj)
 
-    def is_object_attached(self, obj: Entity | str) -> bool:  # type: ignore
+    def is_object_attached(self, obj: Union[Entity, str]) -> bool:  # type: ignore
         """
         Check whether the given non-articulated object is attached
 
@@ -518,12 +522,12 @@ def is_object_attached(self, obj: Entity | str) -> bool:  # type: ignore
 
     def attach_object(  # type: ignore
         self,
-        obj: Entity | str,
-        articulation: PhysxArticulation | str,
-        link: PhysxArticulationLinkComponent | int,
+        obj: Union[Entity, str],
+        articulation: Union[PhysxArticulation, str],
+        link: Union[PhysxArticulationLinkComponent, int],
         pose: Optional[Pose] = None,
         *,
-        touch_links: Optional[list[PhysxArticulationLinkComponent | str]] = None,
+        touch_links: Optional[list[Union[PhysxArticulationLinkComponent, str]]] = None,
         obj_geom: Optional[CollisionGeometry] = None,
     ) -> None:
         """
@@ -585,7 +589,7 @@ def attach_object(  # type: ignore
 
         super().attach_object(**kwargs)
 
-    def detach_object(self, obj: Entity | str, also_remove: bool = False) -> bool:  # type: ignore
+    def detach_object(self, obj: Union[Entity, str], also_remove: bool = False) -> bool:  # type: ignore
         """
         Detaches the given object.
 
@@ -615,8 +619,8 @@ def detach_object(self, obj: Entity | str, also_remove: bool = False) -> bool:
     def attach_sphere(  # type: ignore
         self,
         radius: float,
-        articulation: PhysxArticulation | str,
-        link: PhysxArticulationLinkComponent | int,
+        articulation: Union[PhysxArticulation, str],
+        link: Union[PhysxArticulationLinkComponent, int],
         pose: Pose,
     ) -> None:
         """
@@ -653,10 +657,12 @@ def attach_sphere(  # type: ignore
 
     def attach_box(  # type: ignore
         self,
-        size: Sequence[float]
-        | np.ndarray[tuple[Literal[3], Literal[1]], np.dtype[np.floating]],
-        articulation: PhysxArticulation | str,
-        link: PhysxArticulationLinkComponent | int,
+        size: Union[
+            Sequence[float],
+            np.ndarray[tuple[Literal[3], Literal[1]], np.dtype[np.floating]],
+        ],
+        articulation: Union[PhysxArticulation, str],
+        link: Union[PhysxArticulationLinkComponent, int],
         pose: Pose,
     ) -> None:
         """
@@ -694,8 +700,8 @@ def attach_box(  # type: ignore
     def attach_mesh(  # type: ignore
         self,
         mesh_path: str,
-        articulation: PhysxArticulation | str,
-        link: PhysxArticulationLinkComponent | int,
+        articulation: Union[PhysxArticulation, str],
+        link: Union[PhysxArticulationLinkComponent, int],
         pose: Pose,
         *,
         convex: bool = False,
@@ -735,8 +741,8 @@ def attach_mesh(  # type: ignore
 
     def set_allowed_collision(
         self,
-        obj1: Entity | PhysxArticulationLinkComponent | str,
-        obj2: Entity | PhysxArticulationLinkComponent | str,
+        obj1: Union[Entity, PhysxArticulationLinkComponent, str],
+        obj2: Union[Entity, PhysxArticulationLinkComponent, str],
         allowed: bool,
     ) -> None:
         """
@@ -775,8 +781,8 @@ def __init__(
         sapien_planning_world: SapienPlanningWorld,
         move_group: str,
         *,
-        joint_vel_limits: Optional[Sequence[float] | np.ndarray] = None,
-        joint_acc_limits: Optional[Sequence[float] | np.ndarray] = None,
+        joint_vel_limits: Union[Sequence[float], np.ndarray, None] = None,
+        joint_acc_limits: Union[Sequence[float], np.ndarray, None] = None,
     ):
         """
         Creates an mplib.planner.Planner from a SapienPlanningWorld.

mplib/urdf_utils.py

@@ -7,6 +7,8 @@
 from .collision_detection import AllowedCollisionMatrix
 from .pymp import ArticulatedModel
 
+from typing import Union
+
 
 def compute_default_collisions(
     robot: ArticulatedModel, *, num_samples=100000, verbose=False
@@ -111,7 +113,7 @@ def compute_default_collisions(
 
 
 def replace_urdf_package_keyword(
-    urdf_path: str | Path,
+    urdf_path: Union[str, Path],
     new_package_keyword: str = "",
 ) -> Path:
     """
@@ -133,7 +135,7 @@ def replace_urdf_package_keyword(
 
 
 def generate_srdf(
-    urdf_path: str | Path,
+    urdf_path: Union[str, Path],
     new_package_keyword: str = "",
     *,
     num_samples=100000,