From 7db71762665cf854d35a0d2b3e76c7d6a9a26d03 Mon Sep 17 00:00:00 2001
From: Ivan Nikolic <lesh@sysphere.org>
Date: Thu, 29 Jan 2026 16:09:49 +0800
Subject: [PATCH] fix: add import-untyped to mypy ignore comments for
 cupy/contact_graspnet

These third-party libraries are installed but missing py.typed markers,
causing mypy to raise import-untyped errors in addition to import-not-found.
---
 dimos/core/__init__.py                                      | 2 +-
 .../manipulation/contact_graspnet_pytorch/inference.py      | 6 +++---
 dimos/msgs/sensor_msgs/Image.py                             | 2 +-
 dimos/msgs/sensor_msgs/image_impls/AbstractImage.py         | 4 ++--
 dimos/msgs/sensor_msgs/image_impls/CudaImage.py             | 4 ++--
 dimos/perception/common/utils.py                            | 2 +-
 6 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/dimos/core/__init__.py b/dimos/core/__init__.py
index ed6888632b..979c201189 100644
--- a/dimos/core/__init__.py
+++ b/dimos/core/__init__.py
@@ -69,7 +69,7 @@ def teardown(self, worker) -> None:  # type: ignore[no-untyped-def]
             import sys
 
             if "cupy" in sys.modules:
-                import cupy as cp  # type: ignore[import-not-found]
+                import cupy as cp  # type: ignore[import-not-found, import-untyped]
 
                 # Clear memory pools
                 mempool = cp.get_default_memory_pool()
diff --git a/dimos/models/manipulation/contact_graspnet_pytorch/inference.py b/dimos/models/manipulation/contact_graspnet_pytorch/inference.py
index 76bb377869..b86f61b7fe 100644
--- a/dimos/models/manipulation/contact_graspnet_pytorch/inference.py
+++ b/dimos/models/manipulation/contact_graspnet_pytorch/inference.py
@@ -2,11 +2,11 @@
 import glob
 import os
 
-from contact_graspnet_pytorch import config_utils  # type: ignore[import-not-found]
-from contact_graspnet_pytorch.contact_grasp_estimator import (  # type: ignore[import-not-found]
+from contact_graspnet_pytorch import config_utils  # type: ignore[import-not-found, import-untyped]
+from contact_graspnet_pytorch.contact_grasp_estimator import (  # type: ignore[import-not-found, import-untyped]
     GraspEstimator,
 )
-from contact_graspnet_pytorch.data import (  # type: ignore[import-not-found]
+from contact_graspnet_pytorch.data import (  # type: ignore[import-not-found, import-untyped]
     load_available_input_data,
 )
 import numpy as np
diff --git a/dimos/msgs/sensor_msgs/Image.py b/dimos/msgs/sensor_msgs/Image.py
index de3e7abeca..a9c842f1ab 100644
--- a/dimos/msgs/sensor_msgs/Image.py
+++ b/dimos/msgs/sensor_msgs/Image.py
@@ -47,7 +47,7 @@
     )
 
 try:
-    import cupy as cp  # type: ignore[import-not-found]
+    import cupy as cp  # type: ignore[import-not-found, import-untyped]
 except Exception:
     cp = None
 
diff --git a/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py b/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
index b71c5476fc..9cff0e8bd4 100644
--- a/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
+++ b/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
@@ -25,7 +25,7 @@
 import rerun as rr
 
 try:
-    import cupy as cp  # type: ignore[import-not-found]
+    import cupy as cp  # type: ignore[import-not-found, import-untyped]
 
     HAS_CUDA = True
 except Exception:  # pragma: no cover - optional dependency
@@ -35,7 +35,7 @@
 # NVRTC defaults to C++11; libcu++ in recent CUDA requires at least C++17.
 if HAS_CUDA:
     try:
-        import cupy.cuda.compiler as _cupy_compiler  # type: ignore[import-not-found]
+        import cupy.cuda.compiler as _cupy_compiler  # type: ignore[import-not-found, import-untyped]
 
         if not getattr(_cupy_compiler, "_dimos_force_cxx17", False):
             _orig_compile_using_nvrtc = _cupy_compiler.compile_using_nvrtc
diff --git a/dimos/msgs/sensor_msgs/image_impls/CudaImage.py b/dimos/msgs/sensor_msgs/image_impls/CudaImage.py
index be48699347..2c58071b85 100644
--- a/dimos/msgs/sensor_msgs/image_impls/CudaImage.py
+++ b/dimos/msgs/sensor_msgs/image_impls/CudaImage.py
@@ -30,8 +30,8 @@
 )
 
 try:
-    import cupy as cp  # type: ignore[import-not-found]
-    from cupyx.scipy import (  # type: ignore[import-not-found]
+    import cupy as cp  # type: ignore[import-not-found, import-untyped]
+    from cupyx.scipy import (  # type: ignore[import-not-found, import-untyped]
         ndimage as cndimage,
         signal as csignal,
     )
diff --git a/dimos/perception/common/utils.py b/dimos/perception/common/utils.py
index a590daf0a3..76d27f4897 100644
--- a/dimos/perception/common/utils.py
+++ b/dimos/perception/common/utils.py
@@ -79,7 +79,7 @@
 
 # Optional CuPy support
 try:  # pragma: no cover - optional dependency
-    import cupy as cp  # type: ignore[import-not-found]
+    import cupy as cp  # type: ignore[import-not-found, import-untyped]
 
     _HAS_CUDA = True
 except Exception:  # pragma: no cover - optional dependency