Add Beartype as partial replacement of PyRight

.github/workflows/run-pytest.yml

@@ -5,38 +5,54 @@ permissions:
   contents: read # to fetch code (actions/checkout)
 
 jobs:
-  build-all:
+#  build-all:
+#    runs-on: ubuntu-latest
+#    strategy:
+#      fail-fast: true
+#      matrix:
+#        python-version: ['3.8', '3.9', '3.10', '3.11', '3.12']
+#        numpy-version: ['>=1.21,<2.0', '>=2.0']
+#        exclude:
+#          - python-version: '3.8'  # numpy>=2.0 requires Python>=3.9
+#            numpy-version: '>=2.0'
+#    steps:
+#      - uses: actions/checkout@v4
+#      - run: |
+#          docker build -f bin/all-py.Dockerfile \
+#            --build-arg PYTHON_VERSION="${{ matrix.python-version }}" \
+#            --build-arg NUMPY_VERSION="${{ matrix.numpy-version }}" \
+#            --tag gymnasium-all-docker .
+#      - name: Run tests
+#        run: docker run gymnasium-all-docker pytest tests/*
+#      - name: Run doctests
+#        if: ${{ matrix.python-version != '3.8' }}
+#        run: docker run gymnasium-all-docker pytest --doctest-modules gymnasium/
+#
+#  build-necessary:
+#    runs-on:
+#      ubuntu-latest
+#    steps:
+#      - uses: actions/checkout@v4
+#      - run: |
+#           docker build -f bin/necessary-py.Dockerfile \
+#             --build-arg PYTHON_VERSION='3.10' \
+#             --tag gymnasium-necessary-docker .
+#      - name: Run tests
+#        run: |
+#           docker run gymnasium-necessary-docker pytest tests/test_core.py tests/envs/test_envs.py tests/spaces
+#
+  build-type-testing:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: true
       matrix:
-        python-version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         numpy-version: ['>=1.21,<2.0', '>=2.0']
-        exclude:
-          - python-version: '3.8'  # numpy>=2.0 requires Python>=3.9
-            numpy-version: '>=2.0'
     steps:
       - uses: actions/checkout@v4
       - run: |
           docker build -f bin/all-py.Dockerfile \
-            --build-arg PYTHON_VERSION="${{ matrix.python-version }}" \
+            --build-arg PYTHON_VERSION="3.9" \
             --build-arg NUMPY_VERSION="${{ matrix.numpy-version }}" \
             --tag gymnasium-all-docker .
       - name: Run tests
-        run: docker run gymnasium-all-docker pytest tests/*
-      - name: Run doctests
-        if: ${{ matrix.python-version != '3.8' }}
-        run: docker run gymnasium-all-docker pytest --doctest-modules gymnasium/
-
-  build-necessary:
-    runs-on:
-      ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - run: |
-           docker build -f bin/necessary-py.Dockerfile \
-             --build-arg PYTHON_VERSION='3.10' \
-             --tag gymnasium-necessary-docker .
-      - name: Run tests
-        run: |
-           docker run gymnasium-necessary-docker pytest tests/test_core.py tests/envs/test_envs.py tests/spaces
+        run: docker run gymnasium-all-docker pytest --beartype-packages='gymnasium' tests/*

.pre-commit-config.yaml

@@ -2,7 +2,7 @@
 # See https://pre-commit.com/hooks.html for more hooks
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-symlinks
       - id: destroyed-symlinks
@@ -35,16 +35,16 @@ repos:
           - --show-source
           - --statistics
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.17.0
+    rev: v3.18.0
     hooks:
       - id: pyupgrade
-        args: ["--py38-plus"]
+        args: ["--py39-plus"]
   - repo: https://github.com/PyCQA/isort
     rev: 5.13.2
     hooks:
       - id: isort
   - repo: https://github.com/python/black
-    rev: 24.8.0
+    rev: 24.10.0
     hooks:
       - id: black
   - repo: https://github.com/pycqa/pydocstyle

gymnasium/core.py

@@ -313,7 +313,7 @@ def __init__(self, env: Env[ObsType, ActType]):
         self._observation_space: spaces.Space[WrapperObsType] | None = None
         self._metadata: dict[str, Any] | None = None
 
-        self._cached_spec: EnvSpec | None = None
+        self._cached_spec: gymnasium.envs.registration.EnvSpec | None = None
 
     def step(
         self, action: WrapperActType

gymnasium/envs/box2d/bipedal_walker.py

@@ -1,7 +1,7 @@
 __credits__ = ["Andrea PIERRÉ"]
 
 import math
-from typing import TYPE_CHECKING, List, Optional
+from typing import TYPE_CHECKING, Optional
 
 import numpy as np
 
@@ -179,7 +179,7 @@ def __init__(self, render_mode: Optional[str] = None, hardcore: bool = False):
         self.isopen = True
 
         self.world = Box2D.b2World()
-        self.terrain: List[Box2D.b2Body] = []
+        self.terrain: list[Box2D.b2Body] = []
         self.hull: Optional[Box2D.b2Body] = None
 
         self.prev_shaping = None
@@ -458,8 +458,8 @@ def reset(
             (self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM), 0), True
         )
 
-        self.legs: List[Box2D.b2Body] = []
-        self.joints: List[Box2D.b2RevoluteJoint] = []
+        self.legs: list[Box2D.b2Body] = []
+        self.joints: list[Box2D.b2RevoluteJoint] = []
         for i in [-1, +1]:
             leg = self.world.CreateDynamicBody(
                 position=(init_x, init_y - LEG_H / 2 - LEG_DOWN),

gymnasium/envs/classic_control/cartpole.py

@@ -5,7 +5,7 @@
 """
 
 import math
-from typing import Optional, Tuple, Union
+from typing import Optional, Union
 
 import numpy as np
 
@@ -418,7 +418,7 @@ def __init__(
 
     def step(
         self, action: np.ndarray
-    ) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, dict]:
+    ) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, dict]:
         assert self.action_space.contains(
             action
         ), f"{action!r} ({type(action)}) invalid"

gymnasium/envs/classic_control/utils.py

@@ -2,7 +2,7 @@
 Utility functions used for classic control environments.
 """
 
-from typing import Optional, SupportsFloat, Tuple
+from typing import Optional, SupportsFloat
 
 
 def verify_number_and_cast(x: SupportsFloat) -> float:
@@ -16,7 +16,7 @@ def verify_number_and_cast(x: SupportsFloat) -> float:
 
 def maybe_parse_reset_bounds(
     options: Optional[dict], default_low: float, default_high: float
-) -> Tuple[float, float]:
+) -> tuple[float, float]:
     """
     This function can be called during a reset() to customize the sampling
     ranges for setting the initial state distributions.

gymnasium/envs/mujoco/ant_v5.py

@@ -1,6 +1,6 @@
 __credits__ = ["Kallinteris-Andreas"]
 
-from typing import Dict, Tuple, Union
+from typing import Union
 
 import numpy as np
 
@@ -231,15 +231,15 @@ def __init__(
         self,
         xml_file: str = "ant.xml",
         frame_skip: int = 5,
-        default_camera_config: Dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
+        default_camera_config: dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
         forward_reward_weight: float = 1,
         ctrl_cost_weight: float = 0.5,
         contact_cost_weight: float = 5e-4,
         healthy_reward: float = 1.0,
         main_body: Union[int, str] = 1,
         terminate_when_unhealthy: bool = True,
-        healthy_z_range: Tuple[float, float] = (0.2, 1.0),
-        contact_force_range: Tuple[float, float] = (-1.0, 1.0),
+        healthy_z_range: tuple[float, float] = (0.2, 1.0),
+        contact_force_range: tuple[float, float] = (-1.0, 1.0),
         reset_noise_scale: float = 0.1,
         exclude_current_positions_from_observation: bool = True,
         include_cfrc_ext_in_observation: bool = True,

gymnasium/envs/mujoco/half_cheetah_v5.py

@@ -1,6 +1,6 @@
 __credits__ = ["Kallinteris-Andreas", "Rushiv Arora"]
 
-from typing import Dict, Union
+from typing import Union
 
 import numpy as np
 
@@ -156,7 +156,7 @@ def __init__(
         self,
         xml_file: str = "half_cheetah.xml",
         frame_skip: int = 5,
-        default_camera_config: Dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
+        default_camera_config: dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
         forward_reward_weight: float = 1.0,
         ctrl_cost_weight: float = 0.1,
         reset_noise_scale: float = 0.1,

gymnasium/envs/mujoco/hopper_v5.py

@@ -1,6 +1,6 @@
 __credits__ = ["Kallinteris-Andreas"]
 
-from typing import Dict, Tuple, Union
+from typing import Union
 
 import numpy as np
 
@@ -166,14 +166,14 @@ def __init__(
         self,
         xml_file: str = "hopper.xml",
         frame_skip: int = 4,
-        default_camera_config: Dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
+        default_camera_config: dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
         forward_reward_weight: float = 1.0,
         ctrl_cost_weight: float = 1e-3,
         healthy_reward: float = 1.0,
         terminate_when_unhealthy: bool = True,
-        healthy_state_range: Tuple[float, float] = (-100.0, 100.0),
-        healthy_z_range: Tuple[float, float] = (0.7, float("inf")),
-        healthy_angle_range: Tuple[float, float] = (-0.2, 0.2),
+        healthy_state_range: tuple[float, float] = (-100.0, 100.0),
+        healthy_z_range: tuple[float, float] = (0.7, float("inf")),
+        healthy_angle_range: tuple[float, float] = (-0.2, 0.2),
         reset_noise_scale: float = 5e-3,
         exclude_current_positions_from_observation: bool = True,
         **kwargs,

gymnasium/envs/mujoco/humanoid_v5.py

@@ -1,6 +1,6 @@
 __credits__ = ["Kallinteris-Andreas"]
 
-from typing import Dict, Tuple, Union
+from typing import Union
 
 import numpy as np
 
@@ -309,14 +309,14 @@ def __init__(
         self,
         xml_file: str = "humanoid.xml",
         frame_skip: int = 5,
-        default_camera_config: Dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
+        default_camera_config: dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
         forward_reward_weight: float = 1.25,
         ctrl_cost_weight: float = 0.1,
         contact_cost_weight: float = 5e-7,
-        contact_cost_range: Tuple[float, float] = (-np.inf, 10.0),
+        contact_cost_range: tuple[float, float] = (-np.inf, 10.0),
         healthy_reward: float = 5.0,
         terminate_when_unhealthy: bool = True,
-        healthy_z_range: Tuple[float, float] = (1.0, 2.0),
+        healthy_z_range: tuple[float, float] = (1.0, 2.0),
         reset_noise_scale: float = 1e-2,
         exclude_current_positions_from_observation: bool = True,
         include_cinert_in_observation: bool = True,

gymnasium/envs/mujoco/humanoidstandup_v5.py

@@ -1,6 +1,6 @@
 __credits__ = ["Kallinteris-Andreas"]
 
-from typing import Dict, Tuple, Union
+from typing import Union
 
 import numpy as np
 
@@ -289,11 +289,11 @@ def __init__(
         self,
         xml_file: str = "humanoidstandup.xml",
         frame_skip: int = 5,
-        default_camera_config: Dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
+        default_camera_config: dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
         uph_cost_weight: float = 1,
         ctrl_cost_weight: float = 0.1,
         impact_cost_weight: float = 0.5e-6,
-        impact_cost_range: Tuple[float, float] = (-np.inf, 10.0),
+        impact_cost_range: tuple[float, float] = (-np.inf, 10.0),
         reset_noise_scale: float = 1e-2,
         exclude_current_positions_from_observation: bool = True,
         include_cinert_in_observation: bool = True,

gymnasium/envs/mujoco/inverted_double_pendulum_v5.py

@@ -1,6 +1,6 @@
 __credits__ = ["Kallinteris-Andreas"]
 
-from typing import Dict, Union
+from typing import Union
 
 import numpy as np
 
@@ -148,7 +148,7 @@ def __init__(
         self,
         xml_file: str = "inverted_double_pendulum.xml",
         frame_skip: int = 5,
-        default_camera_config: Dict[str, Union[float, int]] = {},
+        default_camera_config: dict[str, Union[float, int]] = {},
         healthy_reward: float = 10.0,
         reset_noise_scale: float = 0.1,
         **kwargs,

gymnasium/envs/mujoco/inverted_pendulum_v5.py

@@ -1,6 +1,6 @@
 __credits__ = ["Kallinteris-Andreas"]
 
-from typing import Dict, Union
+from typing import Union
 
 import numpy as np
 
@@ -123,7 +123,7 @@ def __init__(
         self,
         xml_file: str = "inverted_pendulum.xml",
         frame_skip: int = 2,
-        default_camera_config: Dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
+        default_camera_config: dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
         reset_noise_scale: float = 0.01,
         **kwargs,
     ):

gymnasium/envs/mujoco/mujoco_env.py

@@ -1,5 +1,5 @@
 from os import path
-from typing import Dict, Optional, Tuple, Union
+from typing import Optional, Union
 
 import numpy as np
 from numpy.typing import NDArray
@@ -47,9 +47,9 @@ def __init__(
         height: int = DEFAULT_SIZE,
         camera_id: Optional[int] = None,
         camera_name: Optional[str] = None,
-        default_camera_config: Optional[Dict[str, Union[float, int]]] = None,
+        default_camera_config: Optional[dict[str, Union[float, int]]] = None,
         max_geom: int = 1000,
-        visual_options: Dict[int, bool] = {},
+        visual_options: dict[int, bool] = {},
     ):
         """Base abstract class for mujoco based environments.
 
@@ -121,7 +121,7 @@ def _set_action_space(self):
 
     def _initialize_simulation(
         self,
-    ) -> Tuple["mujoco.MjModel", "mujoco.MjData"]:
+    ) -> tuple["mujoco.MjModel", "mujoco.MjData"]:
         """
         Initialize MuJoCo simulation data structures `mjModel` and `mjData`.
         """
@@ -215,7 +215,7 @@ def state_vector(self) -> NDArray[np.float64]:
     # ----------------------------
     def step(
         self, action: NDArray[np.float32]
-    ) -> Tuple[NDArray[np.float64], np.float64, bool, bool, Dict[str, np.float64]]:
+    ) -> tuple[NDArray[np.float64], np.float64, bool, bool, dict[str, np.float64]]:
         raise NotImplementedError
 
     def reset_model(self) -> NDArray[np.float64]:
@@ -225,7 +225,7 @@ def reset_model(self) -> NDArray[np.float64]:
         """
         raise NotImplementedError
 
-    def _get_reset_info(self) -> Dict[str, float]:
+    def _get_reset_info(self) -> dict[str, float]:
         """Function that generates the `info` that is returned during a `reset()`."""
         return {}