Greptile Overview

Greptile Summary

Fixed type annotation typos in FileCfg class for tendon properties. The types FixedTendonsPropertiesCfg and SpatialTendonsPropertiesCfg incorrectly had plural "Tendons" instead of singular "Tendon", preventing these configurations from being imported and used properly.

Key changes:

• Line 42: FixedTendonsPropertiesCfg → FixedTendonPropertiesCfg
• Line 45: SpatialTendonsPropertiesCfg → SpatialTendonPropertiesCfg

These type annotations now correctly match the actual class names defined in schemas_cfg.py, allowing users to properly configure tendon properties when spawning articulated assets from URDF or USD files.

Confidence Score: 5/5

• This PR is completely safe to merge with zero risk
• The fix corrects a simple typo in type annotations that prevented valid imports. The changes are minimal (only 2 lines), the correct type names were verified against the actual class definitions in schemas_cfg.py, and no similar typos exist elsewhere in the codebase. This is a straightforward bug fix with no logic changes.
• No files require special attention

Important Files Changed

File Analysis

Sequence Diagram

sequenceDiagram
    participant User
    participant FileCfg
    participant from_files
    participant schemas
    participant USD_Prim
    
    User->>FileCfg: Create config with tendon properties
    Note over FileCfg: fixed_tendons_props: FixedTendonPropertiesCfg
    Note over FileCfg: spatial_tendons_props: SpatialTendonPropertiesCfg
    
    User->>from_files: spawn_from_usd(prim_path, cfg)
    
    alt cfg.fixed_tendons_props is not None
        from_files->>schemas: modify_fixed_tendon_properties(prim_path, cfg.fixed_tendons_props)
        schemas->>USD_Prim: Apply fixed tendon properties
    end
    
    alt cfg.spatial_tendons_props is not None
        from_files->>schemas: modify_spatial_tendon_properties(prim_path, cfg.spatial_tendons_props)
        schemas->>USD_Prim: Apply spatial tendon properties
    end
    
    from_files-->>User: Return spawned prim

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LGTM