fix import order again

airo_drake/__init__.py

@@ -35,6 +35,7 @@
 
 from airo_drake.trajectory.timing import shift_drake_trajectory_in_time  # isort:skip
 
+
 __all__ = [
     "add_floor",
     "add_wall",

airo_drake/building/finish.py

@@ -1,14 +1,12 @@
-from typing import Optional, Tuple
-
 from pydrake.geometry import Meshcat
 from pydrake.planning import RobotDiagram, RobotDiagramBuilder
 from pydrake.systems.framework import Context
 from pydrake.visualization import ApplyVisualizationConfig, VisualizationConfig
 
 
 def finish_build(
-    robot_diagram_builder: RobotDiagramBuilder, meshcat: Optional[Meshcat] = None
-) -> Tuple[RobotDiagram, Context]:
+    robot_diagram_builder: RobotDiagramBuilder, meshcat: Meshcat | None = None
+) -> tuple[RobotDiagram, Context]:
     """Finish building the robot diagram and create a context. The reason we create and force publish a context it so
     that you can see your robot models visualized in Meshcat. Also if a meshcat is provided, we enable some extra
     visualization such as contacts. We do this here because this can only be done after the plant is finalized.

airo_drake/building/manipulator.py

@@ -1,5 +1,3 @@
-from typing import Tuple
-
 import airo_models
 import numpy as np
 from airo_typing import HomogeneousMatrixType
@@ -21,7 +19,7 @@ def add_manipulator(
     arm_transform: HomogeneousMatrixType | None = None,
     gripper_transform: HomogeneousMatrixType | None = None,
     static_gripper: bool = False,
-) -> Tuple[ModelInstanceIndex, ModelInstanceIndex]:
+) -> tuple[ModelInstanceIndex, ModelInstanceIndex]:
     """Add a manipulator (a robot arm with a gripper) to the robot diagram builder.
     Looks up the URDF files for the robot and gripper and welds them together.
     Also provides slightly opionatated default transforms for the welds.