Update link_poses type hint to Optional[Dict[str, Pose]]

NVlabs / curobo

CUDA Accelerated Robot Library

https://curobo.org

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Update link_poses type hint to Optional[Dict[str, Pose]] #265

Closed tylerlum closed 6 months ago

tylerlum commented 6 months ago

Updates link_poses type hint to be more correct. Before there was inconsistency (eg. List[pose], Dict[str, Pose], Dict[str, List[Pose]]), which can be confusing to new users because it wasn't 100% clear that this was the same thing as CudaRobotModelState.link_pose. From looking at the code, it is quite clear that these should all be Optional[Dict[str, Pose]]

balakumar-s commented 6 months ago

Made it Union[None, Dict[str,Pose]] to be more clear. While Optional can also be used, I find it confusing when it's the output of a function. We will push this in the next release.