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suppress pyrefly errors in mujoco

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Startblock:
  * // Put other blockers before this line to avoid churning.
  * has lgtm
  * is approved
  * and then
  * all comments are resolved
  * and then
PiperOrigin-RevId: 961854282
Change-Id: I9d323a8ef9f36ffe69cc62d449849eac82dc6858
This commit is contained in:
Hana Joo
2026-08-09 15:44:49 -07:00
committed by Copybara-Service
parent d6dc966c04
commit 0aad65868d
10 changed files with 61 additions and 61 deletions
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mjx/mujoco/mjx/_src/render.py
+1 -1
View File
@@ -53,7 +53,7 @@ def _call_render(
token = token_array.reshape( token = token_array.reshape(
d._impl._jax_token.shape # pytype: disable=attribute-error d._impl._jax_token.shape # pytype: disable=attribute-error
) )
d = d.tree_replace({'_impl._jax_token': token}) d = d.tree_replace({'_impl._jax_token': token}) # pyrefly: ignore[bad-assignment]
return rgb, depth, seg, d return rgb, depth, seg, d
raise NotImplementedError('render only implemented for MuJoCo Warp.') raise NotImplementedError('render only implemented for MuJoCo Warp.')
mjx/mujoco/mjx/_src/sensor.py
+13 -13
View File
@@ -466,7 +466,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
# compute contact forces # compute contact forces
contact_force = [] contact_force = []
condim_ids = [] condim_ids = []
for dim in set(d._impl.contact.dim): for dim in set(d._impl.contact.dim): # pyrefly: ignore[missing-attribute]
force, condim_id = support.contact_force_dim(m, d, dim) force, condim_id = support.contact_force_dim(m, d, dim)
contact_force.append(force) contact_force.append(force)
condim_ids.append(condim_id) condim_ids.append(condim_id)
@@ -485,7 +485,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
if sensor_type == SensorType.TOUCH: if sensor_type == SensorType.TOUCH:
# get bodies of contact geoms # get bodies of contact geoms
conbody = jp.array(m.geom_bodyid)[d._impl.contact.geom] conbody = jp.array(m.geom_bodyid)[d._impl.contact.geom] # pyrefly: ignore[missing-attribute]
# get site information # get site information
site_bodyid = m.site_bodyid[objid] site_bodyid = m.site_bodyid[objid]
@@ -495,14 +495,14 @@ def sensor_acc(m: Model, d: Data) -> Data:
site_type = m.site_type[objid] site_type = m.site_type[objid]
conbody0 = site_bodyid[:, None] == conbody[:, 0] conbody0 = site_bodyid[:, None] == conbody[:, 0]
conbody1 = site_bodyid[:, None] == conbody[:, 1] conbody1 = site_bodyid[:, None] == conbody[:, 1]
contacts = (d._impl.contact.efc_address >= 0)[None] & ( contacts = (d._impl.contact.efc_address >= 0)[None] & ( # pyrefly: ignore[missing-attribute]
conbody0 | conbody1 conbody0 | conbody1
) )
# compute conray, flip if second body # compute conray, flip if second body
conray = jax.vmap( conray = jax.vmap(
lambda frame, force: math.normalize(frame[0] * force[0]) lambda frame, force: math.normalize(frame[0] * force[0])
)(d._impl.contact.frame, contact_force) # pyrefly: ignore[unbound-name] )(d._impl.contact.frame, contact_force) # pyrefly: ignore[missing-attribute, unbound-name]
conray = jp.where(conbody1[..., None], -conray, conray) conray = jp.where(conbody1[..., None], -conray, conray)
# compute distance, mapping over sites and contacts # compute distance, mapping over sites and contacts
@@ -524,7 +524,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
site_xpos[dist_id_site], site_xpos[dist_id_site],
site_xmat[dist_id_site], site_xmat[dist_id_site],
st, st,
d._impl.contact.pos, d._impl.contact.pos, # pyrefly: ignore[missing-attribute]
conray[dist_id_site], conray[dist_id_site],
) )
dist.append(jp.where(jp.isinf(dist_site), 0, dist_site)) dist.append(jp.where(jp.isinf(dist_site), 0, dist_site))
@@ -535,11 +535,11 @@ def sensor_acc(m: Model, d: Data) -> Data:
sensor = jp.dot((dist > 0) & contacts, contact_force[:, 0]) sensor = jp.dot((dist > 0) & contacts, contact_force[:, 0])
elif sensor_type == SensorType.CONTACT: elif sensor_type == SensorType.CONTACT:
# maximum number of contacts # maximum number of contacts
ncon = d._impl.ncon ncon = d._impl.ncon # pyrefly: ignore[missing-attribute]
# active contacts # active contacts
dist = d._impl.contact.dist dist = d._impl.contact.dist # pyrefly: ignore[missing-attribute]
pos = dist - d._impl.contact.includemargin pos = dist - d._impl.contact.includemargin # pyrefly: ignore[missing-attribute]
is_contact = pos < 0 is_contact = pos < 0
# reduction criteria # reduction criteria
@@ -607,8 +607,8 @@ def sensor_acc(m: Model, d: Data) -> Data:
elif objtype == ObjType.GEOM or reftype == ObjType.GEOM: elif objtype == ObjType.GEOM or reftype == ObjType.GEOM:
sensorid1 = objid[idx_ds] sensorid1 = objid[idx_ds]
sensorid2 = refid[idx_ds] sensorid2 = refid[idx_ds]
geomid0 = d._impl.contact.geom[:, 0] geomid0 = d._impl.contact.geom[:, 0] # pyrefly: ignore[missing-attribute]
geomid1 = d._impl.contact.geom[:, 1] geomid1 = d._impl.contact.geom[:, 1] # pyrefly: ignore[missing-attribute]
# match sensor ids and contact geom ids # match sensor ids and contact geom ids
geom0id1 = geomid0 == sensorid1[:, None] geom0id1 = geomid0 == sensorid1[:, None]
@@ -671,13 +671,13 @@ def sensor_acc(m: Model, d: Data) -> Data:
slot.append(dist[cid, None]) slot.append(dist[cid, None])
if dataspec & (1 << 4): # pos if dataspec & (1 << 4): # pos
slot.append(d._impl.contact.pos[cid]) slot.append(d._impl.contact.pos[cid]) # pyrefly: ignore[missing-attribute]
if dataspec & (1 << 5): # normal if dataspec & (1 << 5): # normal
slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 0]) slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 0]) # pyrefly: ignore[missing-attribute]
if dataspec & (1 << 6): # tangent if dataspec & (1 << 6): # tangent
slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 1]) slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 1]) # pyrefly: ignore[missing-attribute]
found = jp.tile(jp.arange(num), nsensor) < jp.repeat(nfound, num) found = jp.tile(jp.arange(num), nsensor) < jp.repeat(nfound, num)
sensors.append((found[:, None] * jp.hstack(slot)).reshape(-1)) sensors.append((found[:, None] * jp.hstack(slot)).reshape(-1))
mjx/mujoco/mjx/_src/types.py
+35 -35
View File
@@ -395,40 +395,40 @@ class SensorType(enum.IntEnum):
FRAMEANGACC: 3D angular acceleration FRAMEANGACC: 3D angular acceleration
""" """
MAGNETOMETER = mujoco.mjtSensor.mjSENS_MAGNETOMETER MAGNETOMETER = mujoco.mjtSensor.mjSENS_MAGNETOMETER # pyrefly: ignore[bad-assignment]
CAMPROJECTION = mujoco.mjtSensor.mjSENS_CAMPROJECTION CAMPROJECTION = mujoco.mjtSensor.mjSENS_CAMPROJECTION # pyrefly: ignore[bad-assignment]
RANGEFINDER = mujoco.mjtSensor.mjSENS_RANGEFINDER RANGEFINDER = mujoco.mjtSensor.mjSENS_RANGEFINDER # pyrefly: ignore[bad-assignment]
JOINTPOS = mujoco.mjtSensor.mjSENS_JOINTPOS JOINTPOS = mujoco.mjtSensor.mjSENS_JOINTPOS # pyrefly: ignore[bad-assignment]
TENDONPOS = mujoco.mjtSensor.mjSENS_TENDONPOS TENDONPOS = mujoco.mjtSensor.mjSENS_TENDONPOS # pyrefly: ignore[bad-assignment]
ACTUATORPOS = mujoco.mjtSensor.mjSENS_ACTUATORPOS ACTUATORPOS = mujoco.mjtSensor.mjSENS_ACTUATORPOS # pyrefly: ignore[bad-assignment]
BALLQUAT = mujoco.mjtSensor.mjSENS_BALLQUAT BALLQUAT = mujoco.mjtSensor.mjSENS_BALLQUAT # pyrefly: ignore[bad-assignment]
FRAMEPOS = mujoco.mjtSensor.mjSENS_FRAMEPOS FRAMEPOS = mujoco.mjtSensor.mjSENS_FRAMEPOS # pyrefly: ignore[bad-assignment]
FRAMEXAXIS = mujoco.mjtSensor.mjSENS_FRAMEXAXIS FRAMEXAXIS = mujoco.mjtSensor.mjSENS_FRAMEXAXIS # pyrefly: ignore[bad-assignment]
FRAMEYAXIS = mujoco.mjtSensor.mjSENS_FRAMEYAXIS FRAMEYAXIS = mujoco.mjtSensor.mjSENS_FRAMEYAXIS # pyrefly: ignore[bad-assignment]
FRAMEZAXIS = mujoco.mjtSensor.mjSENS_FRAMEZAXIS FRAMEZAXIS = mujoco.mjtSensor.mjSENS_FRAMEZAXIS # pyrefly: ignore[bad-assignment]
FRAMEQUAT = mujoco.mjtSensor.mjSENS_FRAMEQUAT FRAMEQUAT = mujoco.mjtSensor.mjSENS_FRAMEQUAT # pyrefly: ignore[bad-assignment]
SUBTREECOM = mujoco.mjtSensor.mjSENS_SUBTREECOM SUBTREECOM = mujoco.mjtSensor.mjSENS_SUBTREECOM # pyrefly: ignore[bad-assignment]
CLOCK = mujoco.mjtSensor.mjSENS_CLOCK CLOCK = mujoco.mjtSensor.mjSENS_CLOCK # pyrefly: ignore[bad-assignment]
VELOCIMETER = mujoco.mjtSensor.mjSENS_VELOCIMETER VELOCIMETER = mujoco.mjtSensor.mjSENS_VELOCIMETER # pyrefly: ignore[bad-assignment]
GYRO = mujoco.mjtSensor.mjSENS_GYRO GYRO = mujoco.mjtSensor.mjSENS_GYRO # pyrefly: ignore[bad-assignment]
JOINTVEL = mujoco.mjtSensor.mjSENS_JOINTVEL JOINTVEL = mujoco.mjtSensor.mjSENS_JOINTVEL # pyrefly: ignore[bad-assignment]
TENDONVEL = mujoco.mjtSensor.mjSENS_TENDONVEL TENDONVEL = mujoco.mjtSensor.mjSENS_TENDONVEL # pyrefly: ignore[bad-assignment]
ACTUATORVEL = mujoco.mjtSensor.mjSENS_ACTUATORVEL ACTUATORVEL = mujoco.mjtSensor.mjSENS_ACTUATORVEL # pyrefly: ignore[bad-assignment]
BALLANGVEL = mujoco.mjtSensor.mjSENS_BALLANGVEL BALLANGVEL = mujoco.mjtSensor.mjSENS_BALLANGVEL # pyrefly: ignore[bad-assignment]
FRAMELINVEL = mujoco.mjtSensor.mjSENS_FRAMELINVEL FRAMELINVEL = mujoco.mjtSensor.mjSENS_FRAMELINVEL # pyrefly: ignore[bad-assignment]
FRAMEANGVEL = mujoco.mjtSensor.mjSENS_FRAMEANGVEL FRAMEANGVEL = mujoco.mjtSensor.mjSENS_FRAMEANGVEL # pyrefly: ignore[bad-assignment]
SUBTREELINVEL = mujoco.mjtSensor.mjSENS_SUBTREELINVEL SUBTREELINVEL = mujoco.mjtSensor.mjSENS_SUBTREELINVEL # pyrefly: ignore[bad-assignment]
SUBTREEANGMOM = mujoco.mjtSensor.mjSENS_SUBTREEANGMOM SUBTREEANGMOM = mujoco.mjtSensor.mjSENS_SUBTREEANGMOM # pyrefly: ignore[bad-assignment]
TOUCH = mujoco.mjtSensor.mjSENS_TOUCH TOUCH = mujoco.mjtSensor.mjSENS_TOUCH # pyrefly: ignore[bad-assignment]
CONTACT = mujoco.mjtSensor.mjSENS_CONTACT CONTACT = mujoco.mjtSensor.mjSENS_CONTACT # pyrefly: ignore[bad-assignment]
ACCELEROMETER = mujoco.mjtSensor.mjSENS_ACCELEROMETER ACCELEROMETER = mujoco.mjtSensor.mjSENS_ACCELEROMETER # pyrefly: ignore[bad-assignment]
FORCE = mujoco.mjtSensor.mjSENS_FORCE FORCE = mujoco.mjtSensor.mjSENS_FORCE # pyrefly: ignore[bad-assignment]
TORQUE = mujoco.mjtSensor.mjSENS_TORQUE TORQUE = mujoco.mjtSensor.mjSENS_TORQUE # pyrefly: ignore[bad-assignment]
ACTUATORFRC = mujoco.mjtSensor.mjSENS_ACTUATORFRC ACTUATORFRC = mujoco.mjtSensor.mjSENS_ACTUATORFRC # pyrefly: ignore[bad-assignment]
JOINTACTFRC = mujoco.mjtSensor.mjSENS_JOINTACTFRC JOINTACTFRC = mujoco.mjtSensor.mjSENS_JOINTACTFRC # pyrefly: ignore[bad-assignment]
TENDONACTFRC = mujoco.mjtSensor.mjSENS_TENDONACTFRC TENDONACTFRC = mujoco.mjtSensor.mjSENS_TENDONACTFRC # pyrefly: ignore[bad-assignment]
FRAMELINACC = mujoco.mjtSensor.mjSENS_FRAMELINACC FRAMELINACC = mujoco.mjtSensor.mjSENS_FRAMELINACC # pyrefly: ignore[bad-assignment]
FRAMEANGACC = mujoco.mjtSensor.mjSENS_FRAMEANGACC FRAMEANGACC = mujoco.mjtSensor.mjSENS_FRAMEANGACC # pyrefly: ignore[bad-assignment]
class ObjType(PyTreeNode): class ObjType(PyTreeNode):
@@ -1213,6 +1213,6 @@ def tree_path_to_attr_str(path: jax.tree_util.KeyPath) -> str:
path = path[: is_seq_key.index(True)] path = path[: is_seq_key.index(True)]
assert all(isinstance(p, jax.tree_util.GetAttrKey) for p in path) assert all(isinstance(p, jax.tree_util.GetAttrKey) for p in path)
path = [p for p in path if p.name != '_impl'] path = [p for p in path if p.name != '_impl'] # pyrefly: ignore[bad-assignment]
return '__'.join(p.name for p in path) return '__'.join(p.name for p in path)
mjx/mujoco/mjx/codegen/generate_warp_types.py
+2 -2
View File
@@ -134,7 +134,7 @@ def _get_target_annotation_node(
return _ast_parse_type('int') return _ast_parse_type('int')
if dataclasses.is_dataclass(annotation): if dataclasses.is_dataclass(annotation):
return _ast_parse_type(annotation.__name__) return _ast_parse_type(annotation.__name__) # pyrefly: ignore[missing-attribute]
is_tuple = typing.get_origin(annotation) == tuple is_tuple = typing.get_origin(annotation) == tuple
if is_tuple and typing.get_args(annotation)[1] != ...: if is_tuple and typing.get_args(annotation)[1] != ...:
@@ -230,7 +230,7 @@ def _build_new_class_body_ast(
) )
new_body_nodes.append( new_body_nodes.append(
ast.AnnAssign( ast.AnnAssign( # pyrefly: ignore[no-matching-overload]
target=ast.Name(id=key, ctx=ast.Store()), target=ast.Name(id=key, ctx=ast.Store()),
annotation=annotation_node, annotation=annotation_node,
value=value_node, value=value_node,
mjx/mujoco/mjx/codegen/trace.py
+1 -1
View File
@@ -69,7 +69,7 @@ def _get_imported_module_fpaths(fpath: epath.Path) -> Dict[str, str]:
if not (fully_qualified_name.startswith('mujoco_warp') or if not (fully_qualified_name.startswith('mujoco_warp') or
fully_qualified_name.startswith('mujoco')): fully_qualified_name.startswith('mujoco')):
continue continue
fpath = _resolve_module_name_to_fpath(fully_qualified_name) fpath = _resolve_module_name_to_fpath(fully_qualified_name) # pyrefly: ignore[bad-assignment]
if fpath: if fpath:
all_resolved_fpaths[alias] = fpath all_resolved_fpaths[alias] = fpath
return all_resolved_fpaths return all_resolved_fpaths
python/mujoco/experimental/studio/sample/ghost.py
+2 -2
View File
@@ -117,7 +117,7 @@ class GhostRenderer:
self._viewer.extra_geoms.clear() self._viewer.extra_geoms.clear()
if self._last_time is None or data.time < self._last_time: if self._last_time is None or data.time < self._last_time:
self._history.clear() self._history.clear()
if not self._history or data.time > self._last_time: if not self._history or data.time > self._last_time: # pyrefly: ignore[unsupported-operation]
self._history.append(( self._history.append((
data.time, data.time,
data.geom_xpos.copy(), data.geom_xpos.copy(),
@@ -129,7 +129,7 @@ class GhostRenderer:
while len(self._history) > 1 and self._history[1][0] <= target_time: while len(self._history) > 1 and self._history[1][0] <= target_time:
self._history.popleft() self._history.popleft()
_, xpos, xmat = self._history[0] _, xpos, xmat = self._history[0] # pyrefly: ignore[bad-assignment]
if len(xpos) != model.ngeom or len(xmat) != model.ngeom: if len(xpos) != model.ngeom or len(xmat) != model.ngeom:
return return
python/mujoco/experimental/studio/sample/render.py
+1 -1
View File
@@ -70,7 +70,7 @@ def main(argv: list[str]) -> None:
print(f'Error saving image to `{_OUTPUT.value}`: {ex}') print(f'Error saving image to `{_OUTPUT.value}`: {ex}')
sys.exit(-3) sys.exit(-3)
return 0 return 0 # pyrefly: ignore[bad-return]
if __name__ == '__main__': if __name__ == '__main__':
python/mujoco/experimental/studio/viewer.py
+1 -1
View File
@@ -59,7 +59,7 @@ def main(argv: list[str]) -> None:
) as handle: ) as handle:
# Send the model to the viewer, if we have a model. # Send the model to the viewer, if we have a model.
if model is not None: if model is not None:
handle.send_to_viewer(messages.ModelEvent(model=model, path=model_path)) handle.send_to_viewer(messages.ModelEvent(model=model, path=model_path)) # pyrefly: ignore[bad-argument-type]
# Run the simulation. # Run the simulation.
step_control = sim.StepControl() step_control = sim.StepControl()
python/mujoco/experimental/studio/web/web_server.py
+3 -3
View File
@@ -792,7 +792,7 @@ def _run_server(
try: try:
# Handshake: browser CmdVersion -> client; client CmdVersion -> browser. # Handshake: browser CmdVersion -> client; client CmdVersion -> browser.
browser_version = await ws.recv() browser_version = await ws.recv()
my_writer.write(browser_version) my_writer.write(browser_version) # pyrefly: ignore[bad-argument-type]
await my_writer.drain() await my_writer.drain()
server_version = await my_reader.readexactly(_NETIMGUI_CMD_VERSION_SIZE) server_version = await my_reader.readexactly(_NETIMGUI_CMD_VERSION_SIZE)
await ws.send(server_version) await ws.send(server_version)
@@ -869,10 +869,10 @@ def _run_server(
gen_before = generation.value gen_before = generation.value
if gen_before & 1: if gen_before & 1:
continue continue
(used,) = struct.unpack("<I", bytes(shm_array[:4])) (used,) = struct.unpack("<I", bytes(shm_array[:4])) # pyrefly: ignore[unsupported-operation]
if used == 0 or used > shm_capacity: if used == 0 or used > shm_capacity:
return None return None
data = bytes(shm_array[4 : 4 + used]) data = bytes(shm_array[4 : 4 + used]) # pyrefly: ignore[unsupported-operation]
if generation.value == gen_before: if generation.value == gen_before:
return gen_before, data return gen_before, data
return None return None
python/mujoco/usd/demo.py
+2 -2
View File
@@ -31,7 +31,7 @@ def generate_usd_trajectory(local_args):
# create an instance of the USDExporter # create an instance of the USDExporter
exp = exporter.USDExporter( exp = exporter.USDExporter(
model=m, model=m,
output_directory_name=pathlib.Path(local_args.model_path).stem, output_directory_name=pathlib.Path(local_args.model_path).stem, # pyrefly: ignore[unexpected-keyword]
output_directory_root=local_args.output_directory_root, output_directory_root=local_args.output_directory_root,
camera_names=local_args.camera_names, camera_names=local_args.camera_names,
) )
@@ -42,7 +42,7 @@ def generate_usd_trajectory(local_args):
if exp.frame_count < d.time * local_args.framerate: if exp.frame_count < d.time * local_args.framerate:
exp.update_scene(data=d) exp.update_scene(data=d)
exp.add_light(pos=(0, 0, 0), exp.add_light(pos=(0, 0, 0), # pyrefly: ignore[bad-argument-type]
intensity=2000, intensity=2000,
light_type='dome') light_type='dome')