diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 2fad4dd6eaae..0fe48f5d5891 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -109,9 +109,9 @@ jobs: echo "|---|---|---|" for entry in "${patterns[@]}"; do IFS=$'\t' read -r regex desc <<< "$entry" - count=$(printf '%s\n' "$files" | grep -cE "$regex" || true) + count=$(grep -cE "$regex" <<< "$files" || true) if [ "$count" -gt 0 ]; then - sample=$(printf '%s\n' "$files" | grep -E "$regex" | head -3 | paste -sd ', ' -) + sample=$(grep -m 3 -E "$regex" <<< "$files" | paste -sd ', ' -) [ "$count" -gt 3 ] && sample="$sample (and $((count - 3)) more)" echo "| \`$regex\` | $desc | $sample |" else @@ -124,7 +124,7 @@ jobs: local files="$1" entry regex for entry in "${patterns[@]}"; do IFS=$'\t' read -r regex _ <<< "$entry" - if printf '%s\n' "$files" | grep -qE "$regex"; then + if grep -qE "$regex" <<< "$files"; then return 0 fi done diff --git a/.github/workflows/install-ci.yml b/.github/workflows/install-ci.yml index c66e1bf4fce5..9a720575118c 100644 --- a/.github/workflows/install-ci.yml +++ b/.github/workflows/install-ci.yml @@ -68,9 +68,9 @@ jobs: echo "|---|---|---|" for entry in "${patterns[@]}"; do IFS=$'\t' read -r regex desc <<< "$entry" - count=$(printf '%s\n' "$files" | grep -cE "$regex" || true) + count=$(grep -cE "$regex" <<< "$files" || true) if [ "$count" -gt 0 ]; then - sample=$(printf '%s\n' "$files" | grep -E "$regex" | head -3 | paste -sd ', ' -) + sample=$(grep -m 3 -E "$regex" <<< "$files" | paste -sd ', ' -) [ "$count" -gt 3 ] && sample="$sample (and $((count - 3)) more)" echo "| \`$regex\` | $desc | $sample |" else @@ -83,7 +83,7 @@ jobs: local files="$1" entry regex for entry in "${patterns[@]}"; do IFS=$'\t' read -r regex _ <<< "$entry" - if printf '%s\n' "$files" | grep -qE "$regex"; then + if grep -qE "$regex" <<< "$files"; then return 0 fi done diff --git a/docs/source/features/hydra.rst b/docs/source/features/hydra.rst index 25b5d4b8bdf1..e3afa45c0065 100644 --- a/docs/source/features/hydra.rst +++ b/docs/source/features/hydra.rst @@ -141,7 +141,7 @@ combinations early with clear error messages. .. code-block:: python - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass @configclass class MyEnvCfg: @@ -252,7 +252,7 @@ Physics backend selection uses the same preset system. A task can define a .. code-block:: python - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab_newton.physics import KaminoSolverCfg, MJWarpSolverCfg, NewtonCfg from isaaclab_physx.physics import PhysxCfg from isaaclab_tasks.utils import PresetCfg diff --git a/docs/source/how-to/cloning.rst b/docs/source/how-to/cloning.rst index ce513cd29497..4377923bfa45 100644 --- a/docs/source/how-to/cloning.rst +++ b/docs/source/how-to/cloning.rst @@ -246,7 +246,7 @@ paths: import isaaclab.sim as sim_utils from isaaclab.assets import AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.cartpole import CARTPOLE_CFG diff --git a/docs/source/how-to/record_video.rst b/docs/source/how-to/record_video.rst index 335ba7192557..f8b7ddef1772 100644 --- a/docs/source/how-to/record_video.rst +++ b/docs/source/how-to/record_video.rst @@ -126,7 +126,7 @@ uses the same configured viewpoint as the interactive viewport: from isaaclab.envs import ManagerBasedRLEnvCfg from isaaclab.envs.common import ViewerCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass @configclass class MyTaskCfg(ManagerBasedRLEnvCfg): diff --git a/docs/source/migration/migrating_to_isaaclab_3-0.rst b/docs/source/migration/migrating_to_isaaclab_3-0.rst index d660aa6e62ae..efa7d8678023 100644 --- a/docs/source/migration/migrating_to_isaaclab_3-0.rst +++ b/docs/source/migration/migrating_to_isaaclab_3-0.rst @@ -589,7 +589,7 @@ when no CLI override is given. Other fields are named presets selectable with .. code-block:: python from isaaclab_tasks.utils import PresetCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass @configclass class MyPhysicsCfg(PresetCfg): diff --git a/docs/source/overview/core-concepts/multi_backend_architecture.rst b/docs/source/overview/core-concepts/multi_backend_architecture.rst index e56be6fbd133..352245c76ac7 100644 --- a/docs/source/overview/core-concepts/multi_backend_architecture.rst +++ b/docs/source/overview/core-concepts/multi_backend_architecture.rst @@ -139,7 +139,7 @@ Environments can support multiple backends simultaneously using the :doc:`preset .. code-block:: python - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg from isaaclab_physx.physics import PhysxCfg from isaaclab_newton.physics import NewtonCfg, MJWarpSolverCfg @@ -334,7 +334,7 @@ transforms in a Warp-native format that renderers and visualizers consume direct # isaaclab_mybackend/physics/mybackend_manager_cfg.py from isaaclab.physics import PhysicsCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass @configclass class MyBackendCfg(PhysicsCfg): diff --git a/docs/source/refs/contributing.rst b/docs/source/refs/contributing.rst index 9a94688ca5fe..a49f74214050 100644 --- a/docs/source/refs/contributing.rst +++ b/docs/source/refs/contributing.rst @@ -506,7 +506,7 @@ to avoid importing it: from __future__ import annotations import typing - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass if typing.TYPE_CHECKING: from .sensor import Sensor diff --git a/docs/source/setup/walkthrough/api_env_design.rst b/docs/source/setup/walkthrough/api_env_design.rst index 07471ec2ea5a..a669bc47fa1c 100644 --- a/docs/source/setup/walkthrough/api_env_design.rst +++ b/docs/source/setup/walkthrough/api_env_design.rst @@ -14,7 +14,7 @@ and the contents of ``isaac_lab_tutorial_env_cfg.py``. You should see something from isaaclab.envs import DirectRLEnvCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass @configclass diff --git a/docs/source/setup/walkthrough/technical_env_design.rst b/docs/source/setup/walkthrough/technical_env_design.rst index 982a579f6831..41b99445c135 100644 --- a/docs/source/setup/walkthrough/technical_env_design.rst +++ b/docs/source/setup/walkthrough/technical_env_design.rst @@ -58,7 +58,7 @@ replace its contents with the following from isaaclab.envs import DirectRLEnvCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass @configclass class IsaacLabTutorialEnvCfg(DirectRLEnvCfg): diff --git a/pyproject.toml b/pyproject.toml index dd324e22ef97..572395018482 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -7,7 +7,7 @@ name = "isaaclab-dev" version = "0.1.0" description = "Isaac Lab source checkout development environment." -requires-python = ">=3.12" +requires-python = ">=3.12,<3.13" dependencies = [ "isaaclab", "isaaclab-assets", diff --git a/scripts/benchmarks/benchmark_load_robot.py b/scripts/benchmarks/benchmark_load_robot.py index 490a8bd0a064..d10ac6365323 100644 --- a/scripts/benchmarks/benchmark_load_robot.py +++ b/scripts/benchmarks/benchmark_load_robot.py @@ -63,7 +63,7 @@ from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationContext from isaaclab.test.benchmark import BaseIsaacLabBenchmark, SingleMeasurement -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/benchmarks/benchmark_view_comparison.py b/scripts/benchmarks/benchmark_view_comparison.py index a637f687803e..aa5927e10b6a 100644 --- a/scripts/benchmarks/benchmark_view_comparison.py +++ b/scripts/benchmarks/benchmark_view_comparison.py @@ -141,7 +141,7 @@ def benchmark_newton(num_iterations: int) -> dict[str, float]: from isaaclab.assets import RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationCfg, build_simulation_context - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass timing_results = {} diff --git a/scripts/benchmarks/benchmark_xform_prim_view.py b/scripts/benchmarks/benchmark_xform_prim_view.py index b682c03f71fc..fee3b9642c79 100644 --- a/scripts/benchmarks/benchmark_xform_prim_view.py +++ b/scripts/benchmarks/benchmark_xform_prim_view.py @@ -54,7 +54,7 @@ from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationCfg, build_simulation_context from isaaclab.sim.views import UsdFrameView -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/scripts/demos/bin_packing.py b/scripts/demos/bin_packing.py index 20d2d656cd86..fd0f02a4a4af 100644 --- a/scripts/demos/bin_packing.py +++ b/scripts/demos/bin_packing.py @@ -52,8 +52,9 @@ from isaaclab.assets import AssetBaseCfg, RigidObjectCfg, RigidObjectCollection, RigidObjectCollectionCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationContext -from isaaclab.utils import Timer, configclass +from isaaclab.utils import Timer from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ## # Scene Configuration diff --git a/scripts/demos/haply_teleoperation.py b/scripts/demos/haply_teleoperation.py index 0f24ebd4d759..9880cae46f2e 100644 --- a/scripts/demos/haply_teleoperation.py +++ b/scripts/demos/haply_teleoperation.py @@ -66,8 +66,8 @@ from isaaclab.devices import HaplyDevice, HaplyDeviceCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import ContactSensor, ContactSensorCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG # isort: skip diff --git a/scripts/demos/multi_asset.py b/scripts/demos/multi_asset.py index 8091c71afe0e..907c993e9549 100644 --- a/scripts/demos/multi_asset.py +++ b/scripts/demos/multi_asset.py @@ -54,8 +54,9 @@ from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationContext from isaaclab.sim.utils.stage import get_current_stage -from isaaclab.utils import Timer, configclass +from isaaclab.utils import Timer from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ## # Pre-defined Configuration diff --git a/scripts/demos/pick_and_place.py b/scripts/demos/pick_and_place.py index 0308706ce38d..d5e77aa4a12a 100644 --- a/scripts/demos/pick_and_place.py +++ b/scripts/demos/pick_and_place.py @@ -46,7 +46,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.from_files import GroundPlaneCfg, spawn_ground_plane -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.math import sample_uniform from isaaclab_assets.robots.pick_and_place import PICK_AND_PLACE_CFG diff --git a/scripts/demos/sensors/cameras.py b/scripts/demos/sensors/cameras.py index 400881ac5d62..5e1fc37f5154 100644 --- a/scripts/demos/sensors/cameras.py +++ b/scripts/demos/sensors/cameras.py @@ -51,7 +51,7 @@ from isaaclab.sensors import CameraCfg, RayCasterCameraCfg from isaaclab.sensors.ray_caster import patterns from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/demos/sensors/contact_sensor.py b/scripts/demos/sensors/contact_sensor.py index 37ddd14e28a6..a8cc37aeff93 100644 --- a/scripts/demos/sensors/contact_sensor.py +++ b/scripts/demos/sensors/contact_sensor.py @@ -31,7 +31,7 @@ from isaaclab.assets import AssetBaseCfg, RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import ContactSensorCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/demos/sensors/frame_transformer_sensor.py b/scripts/demos/sensors/frame_transformer_sensor.py index 039e38935547..99e5cab6636d 100644 --- a/scripts/demos/sensors/frame_transformer_sensor.py +++ b/scripts/demos/sensors/frame_transformer_sensor.py @@ -29,7 +29,7 @@ from isaaclab.assets import AssetBaseCfg, RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import FrameTransformerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/demos/sensors/imu_sensor.py b/scripts/demos/sensors/imu_sensor.py index beb701d62074..22eb1729e75b 100644 --- a/scripts/demos/sensors/imu_sensor.py +++ b/scripts/demos/sensors/imu_sensor.py @@ -31,7 +31,7 @@ from isaaclab.assets import AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import ImuCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/demos/sensors/multi_mesh_raycaster.py b/scripts/demos/sensors/multi_mesh_raycaster.py index c154a6181763..6ff142f680af 100644 --- a/scripts/demos/sensors/multi_mesh_raycaster.py +++ b/scripts/demos/sensors/multi_mesh_raycaster.py @@ -57,8 +57,8 @@ from isaaclab.markers.config import VisualizationMarkersCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors.ray_caster import MultiMeshRayCasterCfg, patterns -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/demos/sensors/multi_mesh_raycaster_camera.py b/scripts/demos/sensors/multi_mesh_raycaster_camera.py index 5d1dfd39a07d..4bbc0769e6ba 100644 --- a/scripts/demos/sensors/multi_mesh_raycaster_camera.py +++ b/scripts/demos/sensors/multi_mesh_raycaster_camera.py @@ -57,8 +57,8 @@ from isaaclab.markers.config import VisualizationMarkersCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors.ray_caster import MultiMeshRayCasterCameraCfg, patterns -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/demos/sensors/pva_sensor.py b/scripts/demos/sensors/pva_sensor.py index 31066fb59164..746bd1bc8452 100644 --- a/scripts/demos/sensors/pva_sensor.py +++ b/scripts/demos/sensors/pva_sensor.py @@ -31,7 +31,7 @@ from isaaclab.assets import AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import PvaCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/demos/sensors/raycaster_sensor.py b/scripts/demos/sensors/raycaster_sensor.py index 25073af40487..2ae95f85e64d 100644 --- a/scripts/demos/sensors/raycaster_sensor.py +++ b/scripts/demos/sensors/raycaster_sensor.py @@ -30,8 +30,8 @@ from isaaclab.assets import AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors.ray_caster import RayCasterCfg, patterns -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/demos/sensors/tacsl_sensor.py b/scripts/demos/sensors/tacsl_sensor.py index 22f40e8c9ff2..b23bac972bba 100644 --- a/scripts/demos/sensors/tacsl_sensor.py +++ b/scripts/demos/sensors/tacsl_sensor.py @@ -83,8 +83,8 @@ from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import CameraCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.timer import Timer from isaaclab_contrib.sensors.tacsl_sensor import VisuoTactileSensorCfg diff --git a/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py b/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py index 0b43f5947a7b..1767d861b338 100644 --- a/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py +++ b/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py @@ -61,7 +61,7 @@ from isaaclab.envs import ManagerBasedRLMimicEnv from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg from isaaclab.managers import RecorderTerm, RecorderTermCfg, TerminationTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler import isaaclab_tasks # noqa: F401 diff --git a/scripts/imitation_learning/isaaclab_mimic/consolidated_demo.py b/scripts/imitation_learning/isaaclab_mimic/consolidated_demo.py index d180dffd7ccf..12bbf86b4cda 100644 --- a/scripts/imitation_learning/isaaclab_mimic/consolidated_demo.py +++ b/scripts/imitation_learning/isaaclab_mimic/consolidated_demo.py @@ -85,7 +85,7 @@ from isaaclab.envs import ManagerBasedRLMimicEnv from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg from isaaclab.managers import DatasetExportMode, RecorderTerm, RecorderTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.datasets import HDF5DatasetFileHandler import isaaclab_mimic.envs # noqa: F401 diff --git a/scripts/imitation_learning/locomanipulation_sdg/generate_data.py b/scripts/imitation_learning/locomanipulation_sdg/generate_data.py index 99014e75ff1d..63b3e30f5ccd 100644 --- a/scripts/imitation_learning/locomanipulation_sdg/generate_data.py +++ b/scripts/imitation_learning/locomanipulation_sdg/generate_data.py @@ -142,7 +142,7 @@ import omni.usd from isaaclab.managers import DatasetExportMode -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler from isaaclab.utils.math import convert_quat from isaaclab.utils.seed import configure_seed diff --git a/scripts/tutorials/02_scene/create_scene.py b/scripts/tutorials/02_scene/create_scene.py index 1d4578ca256c..b60234fbb32d 100644 --- a/scripts/tutorials/02_scene/create_scene.py +++ b/scripts/tutorials/02_scene/create_scene.py @@ -39,7 +39,7 @@ from isaaclab.assets import ArticulationCfg, AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationContext -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/tutorials/03_envs/create_cartpole_base_env.py b/scripts/tutorials/03_envs/create_cartpole_base_env.py index 35c3650e6811..ef0105ae6364 100644 --- a/scripts/tutorials/03_envs/create_cartpole_base_env.py +++ b/scripts/tutorials/03_envs/create_cartpole_base_env.py @@ -45,7 +45,7 @@ from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.classic.cartpole.cartpole_env_cfg import CartpoleSceneCfg diff --git a/scripts/tutorials/03_envs/create_cube_base_env.py b/scripts/tutorials/03_envs/create_cube_base_env.py index f6629c6bbb82..f1deeabc927e 100644 --- a/scripts/tutorials/03_envs/create_cube_base_env.py +++ b/scripts/tutorials/03_envs/create_cube_base_env.py @@ -62,7 +62,7 @@ from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Custom action term diff --git a/scripts/tutorials/03_envs/create_quadruped_base_env.py b/scripts/tutorials/03_envs/create_quadruped_base_env.py index 78f5b75ec5f8..8f287b5005ff 100644 --- a/scripts/tutorials/03_envs/create_quadruped_base_env.py +++ b/scripts/tutorials/03_envs/create_quadruped_base_env.py @@ -52,8 +52,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import RayCasterCfg, patterns from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, check_file_path, read_file +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise ## diff --git a/scripts/tutorials/04_sensors/add_sensors_on_robot.py b/scripts/tutorials/04_sensors/add_sensors_on_robot.py index 4c143318f27a..a89c1f910bc7 100644 --- a/scripts/tutorials/04_sensors/add_sensors_on_robot.py +++ b/scripts/tutorials/04_sensors/add_sensors_on_robot.py @@ -45,7 +45,7 @@ from isaaclab.assets import ArticulationCfg, AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/scripts/tutorials/05_controllers/run_diff_ik.py b/scripts/tutorials/05_controllers/run_diff_ik.py index a4e88b9d215e..b3825dcd2945 100644 --- a/scripts/tutorials/05_controllers/run_diff_ik.py +++ b/scripts/tutorials/05_controllers/run_diff_ik.py @@ -46,8 +46,8 @@ from isaaclab.markers import VisualizationMarkers from isaaclab.markers.config import FRAME_MARKER_CFG from isaaclab.scene import InteractiveScene, InteractiveSceneCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.math import subtract_frame_transforms ## diff --git a/scripts/tutorials/05_controllers/run_osc.py b/scripts/tutorials/05_controllers/run_osc.py index 362efd5f5ee4..c37ace736ef9 100644 --- a/scripts/tutorials/05_controllers/run_osc.py +++ b/scripts/tutorials/05_controllers/run_osc.py @@ -45,7 +45,7 @@ from isaaclab.markers.config import FRAME_MARKER_CFG from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import ContactSensorCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.math import ( combine_frame_transforms, matrix_from_quat, diff --git a/source/isaaclab/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py b/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py index 99277f9d6139..8afa1807754d 100644 --- a/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py +++ b/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py @@ -7,7 +7,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/actuators/actuator_net_cfg.py b/source/isaaclab/isaaclab/actuators/actuator_net_cfg.py index ab8f53151b70..4a2d9ff30465 100644 --- a/source/isaaclab/isaaclab/actuators/actuator_net_cfg.py +++ b/source/isaaclab/isaaclab/actuators/actuator_net_cfg.py @@ -7,7 +7,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING, Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .actuator_pd_cfg import DCMotorCfg diff --git a/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py b/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py index a57a7b3b7f6a..c4cad3e69f41 100644 --- a/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py +++ b/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py @@ -6,7 +6,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .actuator_base_cfg import ActuatorBaseCfg diff --git a/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py b/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py index d3d94a9b23e0..b7514fb8a91c 100644 --- a/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py +++ b/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING from isaaclab.actuators import ActuatorBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..asset_base_cfg import AssetBaseCfg diff --git a/source/isaaclab/isaaclab/assets/asset_base_cfg.py b/source/isaaclab/isaaclab/assets/asset_base_cfg.py index 4575acc08452..095bb6afd9cd 100644 --- a/source/isaaclab/isaaclab/assets/asset_base_cfg.py +++ b/source/isaaclab/isaaclab/assets/asset_base_cfg.py @@ -9,7 +9,7 @@ from typing import Literal from isaaclab.sim import SpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py index 099bbdeea784..ae1f881fae89 100644 --- a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py +++ b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py @@ -5,7 +5,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..asset_base_cfg import AssetBaseCfg diff --git a/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py b/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py index a094a8968dd5..28c8f8998709 100644 --- a/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py +++ b/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py @@ -7,7 +7,7 @@ from typing import TYPE_CHECKING from isaaclab.assets.rigid_object import RigidObjectCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .rigid_object_collection import RigidObjectCollection diff --git a/source/isaaclab/isaaclab/cloner/cloner_cfg.py b/source/isaaclab/isaaclab/cloner/cloner_cfg.py index 369f70e33520..477b4bbfc2c2 100644 --- a/source/isaaclab/isaaclab/cloner/cloner_cfg.py +++ b/source/isaaclab/isaaclab/cloner/cloner_cfg.py @@ -5,7 +5,7 @@ from __future__ import annotations -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .cloner_strategies import random diff --git a/source/isaaclab/isaaclab/controllers/differential_ik_cfg.py b/source/isaaclab/isaaclab/controllers/differential_ik_cfg.py index f596ce75f638..409ecc9429f5 100644 --- a/source/isaaclab/isaaclab/controllers/differential_ik_cfg.py +++ b/source/isaaclab/isaaclab/controllers/differential_ik_cfg.py @@ -8,7 +8,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING, Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .differential_ik import DifferentialIKController diff --git a/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py b/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py index 8245b0e50ab0..05a518043dd2 100644 --- a/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py +++ b/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py @@ -8,7 +8,7 @@ from collections.abc import Sequence from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/controllers/operational_space_cfg.py b/source/isaaclab/isaaclab/controllers/operational_space_cfg.py index 280caf7d32df..22f9fa193781 100644 --- a/source/isaaclab/isaaclab/controllers/operational_space_cfg.py +++ b/source/isaaclab/isaaclab/controllers/operational_space_cfg.py @@ -9,7 +9,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .operational_space import OperationalSpaceController diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py index bb0839fcf1bf..d62c45ee30e2 100644 --- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py +++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py @@ -10,7 +10,7 @@ from dataclasses import field from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .pink_task_cfg import PinkIKTaskCfg diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py index c6472131babc..bdab08b68862 100644 --- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py +++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py @@ -10,7 +10,7 @@ from dataclasses import MISSING, field from typing import Any -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/controllers/rmp_flow_cfg.py b/source/isaaclab/isaaclab/controllers/rmp_flow_cfg.py index e94e94f2377b..a55954e6aafb 100644 --- a/source/isaaclab/isaaclab/controllers/rmp_flow_cfg.py +++ b/source/isaaclab/isaaclab/controllers/rmp_flow_cfg.py @@ -9,7 +9,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/devices/device_base.py b/source/isaaclab/isaaclab/devices/device_base.py index 00c7100ab523..e175dc1ef500 100644 --- a/source/isaaclab/isaaclab/devices/device_base.py +++ b/source/isaaclab/isaaclab/devices/device_base.py @@ -16,7 +16,7 @@ import torch from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py b/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py index fc4239538070..f7156ae1f49c 100644 --- a/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py +++ b/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..device_base import DeviceCfg diff --git a/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py b/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py index 123105fa10dc..2d21e3980713 100644 --- a/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py +++ b/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..device_base import DeviceCfg diff --git a/source/isaaclab/isaaclab/devices/haply/se3_haply.py b/source/isaaclab/isaaclab/devices/haply/se3_haply.py index f9e190de8a4a..871aee4689f3 100644 --- a/source/isaaclab/isaaclab/devices/haply/se3_haply.py +++ b/source/isaaclab/isaaclab/devices/haply/se3_haply.py @@ -16,7 +16,7 @@ import numpy as np import torch -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass try: import websockets diff --git a/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py b/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py index acecde3ae7d6..0e3679f82b31 100644 --- a/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py +++ b/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..device_base import DeviceCfg diff --git a/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py b/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py index 3ac55205360a..5279dc82a124 100644 --- a/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py +++ b/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..device_base import DeviceCfg diff --git a/source/isaaclab/isaaclab/devices/retargeter_base.py b/source/isaaclab/isaaclab/devices/retargeter_base.py index 0859dd5342cf..e474cb620870 100644 --- a/source/isaaclab/isaaclab/devices/retargeter_base.py +++ b/source/isaaclab/isaaclab/devices/retargeter_base.py @@ -19,7 +19,7 @@ from enum import Enum from typing import Any -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py b/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py index 91e6a823833a..1a287317a3ba 100644 --- a/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py +++ b/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..device_base import DeviceCfg diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py index ba63dae831b6..d6b8f1d4a206 100644 --- a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py +++ b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..device_base import DeviceCfg diff --git a/source/isaaclab/isaaclab/envs/common.py b/source/isaaclab/isaaclab/envs/common.py index 5da6f871361e..2bd55ad15a8a 100644 --- a/source/isaaclab/isaaclab/envs/common.py +++ b/source/isaaclab/isaaclab/envs/common.py @@ -12,7 +12,7 @@ import gymnasium as gym import torch -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Configuration. diff --git a/source/isaaclab/isaaclab/envs/direct_marl_env_cfg.py b/source/isaaclab/isaaclab/envs/direct_marl_env_cfg.py index 9f3e6a627b07..de8381e1050d 100644 --- a/source/isaaclab/isaaclab/envs/direct_marl_env_cfg.py +++ b/source/isaaclab/isaaclab/envs/direct_marl_env_cfg.py @@ -13,7 +13,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import NoiseModelCfg from .common import AgentID, SpaceType, ViewerCfg diff --git a/source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py b/source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py index 69b917e1d01f..484338337e70 100644 --- a/source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py +++ b/source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py @@ -12,7 +12,7 @@ from isaaclab.devices.openxr import XrCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import NoiseModelCfg from .common import SpaceType, ViewerCfg diff --git a/source/isaaclab/isaaclab/envs/manager_based_env_cfg.py b/source/isaaclab/isaaclab/envs/manager_based_env_cfg.py index 843701b03fd1..c76e472975d0 100644 --- a/source/isaaclab/isaaclab/envs/manager_based_env_cfg.py +++ b/source/isaaclab/isaaclab/envs/manager_based_env_cfg.py @@ -23,7 +23,7 @@ from isaaclab.managers import RecorderManagerBaseCfg as DefaultEmptyRecorderManagerCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .common import ViewerCfg from .utils.video_recorder_cfg import VideoRecorderCfg diff --git a/source/isaaclab/isaaclab/envs/manager_based_rl_env_cfg.py b/source/isaaclab/isaaclab/envs/manager_based_rl_env_cfg.py index 102d4bc26cd7..8e85a3bd3ab4 100644 --- a/source/isaaclab/isaaclab/envs/manager_based_rl_env_cfg.py +++ b/source/isaaclab/isaaclab/envs/manager_based_rl_env_cfg.py @@ -7,7 +7,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .manager_based_env_cfg import ManagerBasedEnvCfg diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py index d86fe55ee436..35c1266fb578 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py @@ -10,7 +10,7 @@ from isaaclab.controllers import DifferentialIKControllerCfg, OperationalSpaceControllerCfg from isaaclab.managers.action_manager import ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .binary_joint_actions import AbsBinaryJointPositionAction, BinaryJointPositionAction, BinaryJointVelocityAction diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py index b5910b64d0f6..05edc8a01ff2 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py @@ -8,7 +8,7 @@ from isaaclab.controllers.pink_ik import PinkIKControllerCfg from isaaclab.managers.action_manager import ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .pink_task_space_actions import PinkInverseKinematicsAction diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py index a988785bddb3..2f9058cf1fb9 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py @@ -10,7 +10,7 @@ from isaaclab.controllers.rmp_flow_cfg import RmpFlowControllerCfg from isaaclab.managers.action_manager import ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .rmpflow_task_space_actions import RMPFlowAction diff --git a/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py b/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py index 34a7a6f994f2..9b6f7b0ff9ca 100644 --- a/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py @@ -10,7 +10,7 @@ from isaaclab.managers import CommandTermCfg from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import BLUE_ARROW_X_MARKER_CFG, FRAME_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .null_command import NullCommand diff --git a/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py b/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py index 473501591053..7c06d78d92d8 100644 --- a/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py @@ -5,7 +5,7 @@ from typing import TYPE_CHECKING from isaaclab.managers.recorder_manager import RecorderManagerBaseCfg, RecorderTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .recorders import ( diff --git a/source/isaaclab/isaaclab/envs/mimic_env_cfg.py b/source/isaaclab/isaaclab/envs/mimic_env_cfg.py index a98c34bf5f90..e9760fdd1277 100644 --- a/source/isaaclab/isaaclab/envs/mimic_env_cfg.py +++ b/source/isaaclab/isaaclab/envs/mimic_env_cfg.py @@ -15,7 +15,7 @@ import enum from isaaclab.managers.recorder_manager import RecorderManagerBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/envs/utils/io_descriptors.py b/source/isaaclab/isaaclab/envs/utils/io_descriptors.py index 3a9d54f12e5a..f14ae14e5f78 100644 --- a/source/isaaclab/isaaclab/envs/utils/io_descriptors.py +++ b/source/isaaclab/isaaclab/envs/utils/io_descriptors.py @@ -8,7 +8,7 @@ from collections.abc import Callable from typing import TYPE_CHECKING, Any, Concatenate, ParamSpec, TypeVar -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: import torch diff --git a/source/isaaclab/isaaclab/envs/utils/video_recorder_cfg.py b/source/isaaclab/isaaclab/envs/utils/video_recorder_cfg.py index c0cbb1d9a11d..f795ad114aaf 100644 --- a/source/isaaclab/isaaclab/envs/utils/video_recorder_cfg.py +++ b/source/isaaclab/isaaclab/envs/utils/video_recorder_cfg.py @@ -14,7 +14,7 @@ from typing import Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .video_recorder import VideoRecorder diff --git a/source/isaaclab/isaaclab/managers/manager_base.py b/source/isaaclab/isaaclab/managers/manager_base.py index 405157a1548b..f898e904b0bf 100644 --- a/source/isaaclab/isaaclab/managers/manager_base.py +++ b/source/isaaclab/isaaclab/managers/manager_base.py @@ -37,7 +37,7 @@ class should also have a corresponding configuration class that defines the conf .. code-block:: python - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab.utils.mdp import ManagerBase, ManagerTermBaseCfg diff --git a/source/isaaclab/isaaclab/managers/manager_term_cfg.py b/source/isaaclab/isaaclab/managers/manager_term_cfg.py index 06f2516324b5..aa118f8e9784 100644 --- a/source/isaaclab/isaaclab/managers/manager_term_cfg.py +++ b/source/isaaclab/isaaclab/managers/manager_term_cfg.py @@ -13,7 +13,7 @@ import torch -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.modifiers import ModifierCfg from isaaclab.utils.noise import NoiseCfg, NoiseModelCfg diff --git a/source/isaaclab/isaaclab/managers/recorder_manager.py b/source/isaaclab/isaaclab/managers/recorder_manager.py index 2e6ebf0b2446..67a189736da0 100644 --- a/source/isaaclab/isaaclab/managers/recorder_manager.py +++ b/source/isaaclab/isaaclab/managers/recorder_manager.py @@ -15,7 +15,7 @@ import warp as wp from prettytable import PrettyTable -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler from .manager_base import ManagerBase, ManagerTermBase diff --git a/source/isaaclab/isaaclab/managers/scene_entity_cfg.py b/source/isaaclab/isaaclab/managers/scene_entity_cfg.py index 2fe118c2da26..40250ceeb4d0 100644 --- a/source/isaaclab/isaaclab/managers/scene_entity_cfg.py +++ b/source/isaaclab/isaaclab/managers/scene_entity_cfg.py @@ -10,7 +10,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from isaaclab.assets import Articulation, RigidObject, RigidObjectCollection diff --git a/source/isaaclab/isaaclab/renderers/renderer_cfg.py b/source/isaaclab/isaaclab/renderers/renderer_cfg.py index 334fa3f070ae..276add3a0727 100644 --- a/source/isaaclab/isaaclab/renderers/renderer_cfg.py +++ b/source/isaaclab/isaaclab/renderers/renderer_cfg.py @@ -5,7 +5,7 @@ """Base configuration for renderers.""" -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/scene/interactive_scene.py b/source/isaaclab/isaaclab/scene/interactive_scene.py index 6b13afb4565f..543dfdfc9d57 100644 --- a/source/isaaclab/isaaclab/scene/interactive_scene.py +++ b/source/isaaclab/isaaclab/scene/interactive_scene.py @@ -76,7 +76,7 @@ class InteractiveScene: .. code-block:: python from isaaclab.scene import InteractiveSceneCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.anymal import ANYMAL_C_CFG diff --git a/source/isaaclab/isaaclab/scene/interactive_scene_cfg.py b/source/isaaclab/isaaclab/scene/interactive_scene_cfg.py index f4328324152c..034307017219 100644 --- a/source/isaaclab/isaaclab/scene/interactive_scene_cfg.py +++ b/source/isaaclab/isaaclab/scene/interactive_scene_cfg.py @@ -29,7 +29,7 @@ class InteractiveSceneCfg: from isaaclab.assets import AssetBaseCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors.ray_caster import GridPatternCfg, RayCasterCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.anymal import ANYMAL_C_CFG diff --git a/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py b/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py index 3ecec15d11d3..02e834333d2b 100644 --- a/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py @@ -11,7 +11,7 @@ from isaaclab.renderers import RendererCfg from isaaclab.sim import FisheyeCameraCfg, PinholeCameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sensor_base_cfg import SensorBaseCfg diff --git a/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py b/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py index e200468daa78..05cc38777511 100644 --- a/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py @@ -6,7 +6,7 @@ import warnings from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .camera_cfg import CameraCfg diff --git a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py index e68117745237..4435b5fac64f 100644 --- a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py +++ b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py @@ -7,7 +7,7 @@ from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import CONTACT_SENSOR_MARKER_CFG -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sensor_base_cfg import SensorBaseCfg diff --git a/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py b/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py index b41c7d6d5f0d..03aec5ca9155 100644 --- a/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py +++ b/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING from isaaclab.markers.config import FRAME_MARKER_CFG, VisualizationMarkersCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sensor_base_cfg import SensorBaseCfg diff --git a/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py b/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py index a095c7f27642..4797e0dc0339 100644 --- a/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py +++ b/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py @@ -7,7 +7,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sensor_base_cfg import SensorBaseCfg diff --git a/source/isaaclab/isaaclab/sensors/joint_wrench/joint_wrench_sensor_cfg.py b/source/isaaclab/isaaclab/sensors/joint_wrench/joint_wrench_sensor_cfg.py index 4bdb0ab74f06..d482603dd48f 100644 --- a/source/isaaclab/isaaclab/sensors/joint_wrench/joint_wrench_sensor_cfg.py +++ b/source/isaaclab/isaaclab/sensors/joint_wrench/joint_wrench_sensor_cfg.py @@ -7,7 +7,7 @@ from typing import TYPE_CHECKING, Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sensor_base_cfg import SensorBaseCfg diff --git a/source/isaaclab/isaaclab/sensors/pva/pva_cfg.py b/source/isaaclab/isaaclab/sensors/pva/pva_cfg.py index 38f3d627608a..5e7166ca1911 100644 --- a/source/isaaclab/isaaclab/sensors/pva/pva_cfg.py +++ b/source/isaaclab/isaaclab/sensors/pva/pva_cfg.py @@ -9,7 +9,7 @@ from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import RED_ARROW_X_MARKER_CFG -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sensor_base_cfg import SensorBaseCfg diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py index c625ccffedf4..fa60dcf14722 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py @@ -8,7 +8,7 @@ import logging from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .multi_mesh_ray_caster_cfg import MultiMeshRayCasterCfg from .ray_caster_camera_cfg import RayCasterCameraCfg diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py index 3e7de9429c60..c88f3199bb48 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py @@ -9,7 +9,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .ray_caster_cfg import RayCasterCfg diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns_cfg.py index aa946ffac7bc..71582913c6f3 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns_cfg.py @@ -13,7 +13,7 @@ import torch -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import patterns diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py index 574c95020437..84238380aef8 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py @@ -8,7 +8,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING, Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .patterns import PinholeCameraPatternCfg from .ray_caster_cfg import RayCasterCfg diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py index 3e862e389c1e..0b864c8ee5cf 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py @@ -13,7 +13,7 @@ from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import RAY_CASTER_MARKER_CFG from isaaclab.sim.spawners.sensors.sensors_cfg import SensorFrameCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sensor_base_cfg import SensorBaseCfg from .patterns.patterns_cfg import PatternBaseCfg diff --git a/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py b/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py index e2397233be3c..fcf1ecf476ab 100644 --- a/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py +++ b/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py @@ -6,7 +6,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .sensor_base import SensorBase diff --git a/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py b/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py index 3ba2a27c18cb..706927fd350e 100644 --- a/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py +++ b/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py @@ -7,7 +7,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py b/source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py index 549aecab2eff..73ec37e777b6 100644 --- a/source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py +++ b/source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py @@ -5,7 +5,7 @@ from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg from isaaclab.sim.schemas import schemas_cfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py b/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py index d08cdf493906..ca111cb494db 100644 --- a/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py +++ b/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py @@ -8,7 +8,7 @@ from typing import Literal from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/converters/urdf_converter_cfg.py b/source/isaaclab/isaaclab/sim/converters/urdf_converter_cfg.py index d1ed21b75215..49a2ef83b38f 100644 --- a/source/isaaclab/isaaclab/sim/converters/urdf_converter_cfg.py +++ b/source/isaaclab/isaaclab/sim/converters/urdf_converter_cfg.py @@ -9,7 +9,7 @@ from typing import Literal from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py b/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py index e54d71ca9d76..b154d91f4cc5 100644 --- a/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py +++ b/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py @@ -8,7 +8,7 @@ import warnings from typing import ClassVar, Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass # Names that moved out of this submodule into ``isaaclab_physx.sim.schemas.schemas_cfg``. # Resolved lazily so callers using ``from isaaclab.sim.schemas.schemas_cfg import diff --git a/source/isaaclab/isaaclab/sim/simulation_cfg.py b/source/isaaclab/isaaclab/sim/simulation_cfg.py index eb0f9821592c..8abed4cbfc17 100644 --- a/source/isaaclab/isaaclab/sim/simulation_cfg.py +++ b/source/isaaclab/isaaclab/sim/simulation_cfg.py @@ -15,7 +15,7 @@ from isaaclab.physics import PhysicsCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.visualizers import VisualizerCfg diff --git a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py index 87fc48de4d30..1d61cde5725d 100644 --- a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py @@ -14,8 +14,8 @@ from isaaclab.sim import converters, schemas from isaaclab.sim.spawners import materials from isaaclab.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg, SpawnerCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py b/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py index 653e83a108cc..5016f092135b 100644 --- a/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py @@ -10,7 +10,7 @@ from typing import Literal from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py b/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py index 0c9a7be478e8..886b049b77b0 100644 --- a/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py @@ -9,7 +9,7 @@ from dataclasses import MISSING from typing import ClassVar -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass # Names that moved out of this submodule into ``isaaclab_physx.sim.spawners.materials.physics_materials_cfg``. # Resolved lazily so callers using ``from isaaclab.sim.spawners.materials.physics_materials_cfg diff --git a/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials_cfg.py b/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials_cfg.py index 961b351b6ce4..0f2a88c2cd9c 100644 --- a/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials_cfg.py @@ -8,7 +8,7 @@ from collections.abc import Callable from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py b/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py index a9e7e44586d0..6bdf9ebf9baa 100644 --- a/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py @@ -14,7 +14,7 @@ from isaaclab.sim.spawners import materials from isaaclab.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py index 1ad9dcd73bf2..6a1741675074 100644 --- a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py @@ -10,7 +10,7 @@ import isaaclab.utils.sensors as sensor_utils from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py b/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py index 2baa75d19e66..b111bdbb2bf3 100644 --- a/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py @@ -11,7 +11,7 @@ from isaaclab.sim.spawners import materials from isaaclab.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py b/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py index 0adf9215f81e..3cc632e2c0d5 100644 --- a/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py @@ -9,7 +9,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from pxr import Usd diff --git a/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py b/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py index e335393f7d94..dafe5beb812f 100644 --- a/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py @@ -15,7 +15,7 @@ Safe to ignore if using newton only. Complete exception: {e}""" ) # import dummy class to avoid errors in type hints - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass @configclass class DeformableObjectSpawnerCfg: @@ -24,7 +24,7 @@ class DeformableObjectSpawnerCfg: from isaaclab.sim.spawners.from_files import UsdFileCfg from isaaclab.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg, SpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py b/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py index 069f87503e65..b237f934c14d 100644 --- a/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py +++ b/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sub_terrain_cfg import SubTerrainBaseCfg diff --git a/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py b/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py index 5167afd5eb68..6532b6e411bf 100644 --- a/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py +++ b/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py @@ -10,7 +10,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: import numpy as np diff --git a/source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py index 605b8116e7dd..9d944c83fdf3 100644 --- a/source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py +++ b/source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py @@ -17,7 +17,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING, Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .sub_terrain_cfg import SubTerrainBaseCfg diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py index 279c4c981ebb..db34c9a17195 100644 --- a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py +++ b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING, Literal import isaaclab.sim as sim_utils -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .terrain_generator_cfg import TerrainGeneratorCfg diff --git a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py index 1e82a88aee77..da2cb580f8c3 100644 --- a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py +++ b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py @@ -7,7 +7,7 @@ from dataclasses import MISSING from typing import Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..sub_terrain_cfg import SubTerrainBaseCfg diff --git a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py index cc0a2186c89e..fe6ae804486e 100644 --- a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py +++ b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py @@ -14,7 +14,7 @@ from isaaclab.managers import ManagerBase from isaaclab.sim import SimulationContext -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .image_plot import ImagePlot from .line_plot import LiveLinePlot diff --git a/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py b/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py index cf018fc07165..b0e6a84defb6 100644 --- a/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py +++ b/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py @@ -9,7 +9,7 @@ import torch -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import modifier diff --git a/source/isaaclab/isaaclab/utils/noise/noise_cfg.py b/source/isaaclab/isaaclab/utils/noise/noise_cfg.py index 4265a12cda84..a1c6235ece6a 100644 --- a/source/isaaclab/isaaclab/utils/noise/noise_cfg.py +++ b/source/isaaclab/isaaclab/utils/noise/noise_cfg.py @@ -11,7 +11,7 @@ import torch -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .noise_model import NoiseModel, NoiseModelWithAdditiveBias diff --git a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py index 1ee4cde038b5..8a8c7ba7a21b 100644 --- a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py +++ b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING, Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .base_visualizer import BaseVisualizer diff --git a/source/isaaclab/test/app/test_non_headless_launch.py b/source/isaaclab/test/app/test_non_headless_launch.py index 8fc8a051ae38..5c7b5bad24cd 100644 --- a/source/isaaclab/test/app/test_non_headless_launch.py +++ b/source/isaaclab/test/app/test_non_headless_launch.py @@ -24,7 +24,7 @@ import isaaclab.sim as sim_utils from isaaclab.assets import AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/test/controllers/test_operational_space.py b/source/isaaclab/test/controllers/test_operational_space.py index 80f1f8952623..bed0760271e7 100644 --- a/source/isaaclab/test/controllers/test_operational_space.py +++ b/source/isaaclab/test/controllers/test_operational_space.py @@ -36,7 +36,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import ContactSensor, ContactSensorCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass as lab_configclass +from isaaclab.utils.configclass import configclass as lab_configclass from isaaclab.utils.math import ( apply_delta_pose, combine_frame_transforms, diff --git a/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py b/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py index 07dc3d73bd14..a505f3f7e504 100644 --- a/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py +++ b/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py @@ -46,8 +46,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import RayCasterCfg, patterns from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR, check_file_path, read_file +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise ## diff --git a/source/isaaclab/test/envs/check_manager_based_env_floating_cube.py b/source/isaaclab/test/envs/check_manager_based_env_floating_cube.py index 4762cc855cc5..ef0a151434b5 100644 --- a/source/isaaclab/test/envs/check_manager_based_env_floating_cube.py +++ b/source/isaaclab/test/envs/check_manager_based_env_floating_cube.py @@ -43,7 +43,7 @@ from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Scene definition diff --git a/source/isaaclab/test/envs/test_color_randomization.py b/source/isaaclab/test/envs/test_color_randomization.py index a7edda7036c1..5f03ff970855 100644 --- a/source/isaaclab/test/envs/test_color_randomization.py +++ b/source/isaaclab/test/envs/test_color_randomization.py @@ -29,7 +29,7 @@ from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.version import get_isaac_sim_version from isaaclab_tasks.manager_based.classic.cartpole.cartpole_env_cfg import CartpoleSceneCfg diff --git a/source/isaaclab/test/envs/test_direct_marl_env.py b/source/isaaclab/test/envs/test_direct_marl_env.py index 981ebd72203a..7454f21c876b 100644 --- a/source/isaaclab/test/envs/test_direct_marl_env.py +++ b/source/isaaclab/test/envs/test_direct_marl_env.py @@ -22,7 +22,7 @@ import isaaclab.sim as sim_utils from isaaclab.envs import DirectMARLEnv, DirectMARLEnvCfg from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/test/envs/test_env_rendering_logic.py b/source/isaaclab/test/envs/test_env_rendering_logic.py index 59299e2e93ee..ca05ef2f2e2d 100644 --- a/source/isaaclab/test/envs/test_env_rendering_logic.py +++ b/source/isaaclab/test/envs/test_env_rendering_logic.py @@ -29,7 +29,7 @@ ) from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg, SimulationContext -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass pytestmark = pytest.mark.isaacsim_ci diff --git a/source/isaaclab/test/envs/test_manager_based_env.py b/source/isaaclab/test/envs/test_manager_based_env.py index 153129a39263..aede8915b58c 100644 --- a/source/isaaclab/test/envs/test_manager_based_env.py +++ b/source/isaaclab/test/envs/test_manager_based_env.py @@ -25,7 +25,7 @@ from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/test/envs/test_manager_based_rl_env_ui.py b/source/isaaclab/test/envs/test_manager_based_rl_env_ui.py index 2a6157120848..678e28ffded4 100644 --- a/source/isaaclab/test/envs/test_manager_based_rl_env_ui.py +++ b/source/isaaclab/test/envs/test_manager_based_rl_env_ui.py @@ -22,7 +22,7 @@ from isaaclab.envs import ManagerBasedRLEnv, ManagerBasedRLEnvCfg from isaaclab.envs.ui import ManagerBasedRLEnvWindow from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass enable_extension("isaacsim.gui.components") diff --git a/source/isaaclab/test/envs/test_modify_env_param_curr_term.py b/source/isaaclab/test/envs/test_modify_env_param_curr_term.py index 683b6eae02c7..b35487f524c1 100644 --- a/source/isaaclab/test/envs/test_modify_env_param_curr_term.py +++ b/source/isaaclab/test/envs/test_modify_env_param_curr_term.py @@ -18,7 +18,7 @@ from isaaclab.assets import Articulation from isaaclab.envs import ManagerBasedRLEnv from isaaclab.managers import CurriculumTermCfg as CurrTerm -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.classic.cartpole.cartpole_env_cfg import CartpoleEnvCfg diff --git a/source/isaaclab/test/envs/test_scale_randomization.py b/source/isaaclab/test/envs/test_scale_randomization.py index ec4c6cd42a96..1104425b4b1c 100644 --- a/source/isaaclab/test/envs/test_scale_randomization.py +++ b/source/isaaclab/test/envs/test_scale_randomization.py @@ -35,7 +35,7 @@ from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Custom action term diff --git a/source/isaaclab/test/envs/test_texture_randomization.py b/source/isaaclab/test/envs/test_texture_randomization.py index b5fe287c48ce..cbc3a7f4faf0 100644 --- a/source/isaaclab/test/envs/test_texture_randomization.py +++ b/source/isaaclab/test/envs/test_texture_randomization.py @@ -29,8 +29,8 @@ from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.classic.cartpole.cartpole_env_cfg import CartpoleSceneCfg diff --git a/source/isaaclab/test/managers/test_event_manager.py b/source/isaaclab/test/managers/test_event_manager.py index 362e5c85c3e6..e339d79ee19f 100644 --- a/source/isaaclab/test/managers/test_event_manager.py +++ b/source/isaaclab/test/managers/test_event_manager.py @@ -26,7 +26,7 @@ from isaaclab.envs import ManagerBasedEnv from isaaclab.managers import EventManager, EventTermCfg, ManagerTermBase, ManagerTermBaseCfg from isaaclab.sim import SimulationContext -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass DummyEnv = namedtuple("ManagerBasedRLEnv", ["num_envs", "dt", "device", "sim", "dummy1", "dummy2"]) """Dummy environment for testing.""" diff --git a/source/isaaclab/test/managers/test_observation_manager.py b/source/isaaclab/test/managers/test_observation_manager.py index d738f179da71..41ea6bad1ee6 100644 --- a/source/isaaclab/test/managers/test_observation_manager.py +++ b/source/isaaclab/test/managers/test_observation_manager.py @@ -29,7 +29,8 @@ ObservationTermCfg, RewardTermCfg, ) -from isaaclab.utils import configclass, modifiers +from isaaclab.utils import modifiers +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from isaaclab.envs import ManagerBasedEnv diff --git a/source/isaaclab/test/managers/test_recorder_manager.py b/source/isaaclab/test/managers/test_recorder_manager.py index f85a1a191da6..443fe50fb645 100644 --- a/source/isaaclab/test/managers/test_recorder_manager.py +++ b/source/isaaclab/test/managers/test_recorder_manager.py @@ -31,7 +31,7 @@ from isaaclab.managers import DatasetExportMode, RecorderManager, RecorderManagerBaseCfg, RecorderTerm, RecorderTermCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationContext -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: import numpy as np diff --git a/source/isaaclab/test/managers/test_reward_manager.py b/source/isaaclab/test/managers/test_reward_manager.py index 8301fac5b504..92554292e6f8 100644 --- a/source/isaaclab/test/managers/test_reward_manager.py +++ b/source/isaaclab/test/managers/test_reward_manager.py @@ -19,7 +19,7 @@ from isaaclab.managers import RewardManager, RewardTermCfg from isaaclab.sim import SimulationContext -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass def grilled_chicken(env): diff --git a/source/isaaclab/test/markers/check_markers_visibility.py b/source/isaaclab/test/markers/check_markers_visibility.py index eadc8af82a53..544178bd0409 100644 --- a/source/isaaclab/test/markers/check_markers_visibility.py +++ b/source/isaaclab/test/markers/check_markers_visibility.py @@ -42,7 +42,7 @@ from isaaclab.assets import ArticulationCfg, AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import RayCasterCfg, patterns -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/source/isaaclab/test/scene/check_interactive_scene.py b/source/isaaclab/test/scene/check_interactive_scene.py index df0c4a12a945..dd0b03c5e35d 100644 --- a/source/isaaclab/test/scene/check_interactive_scene.py +++ b/source/isaaclab/test/scene/check_interactive_scene.py @@ -33,7 +33,7 @@ from isaaclab.sensors.ray_caster import RayCasterCfg, patterns from isaaclab.sim import SimulationContext from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.timer import Timer ## diff --git a/source/isaaclab/test/scene/test_interactive_scene.py b/source/isaaclab/test/scene/test_interactive_scene.py index 626e4d8e44df..f56803ef5cf6 100644 --- a/source/isaaclab/test/scene/test_interactive_scene.py +++ b/source/isaaclab/test/scene/test_interactive_scene.py @@ -24,8 +24,8 @@ from isaaclab.physics.scene_data_requirements import SceneDataRequirement from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import build_simulation_context -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/test/sensors/test_sensor_base.py b/source/isaaclab/test/sensors/test_sensor_base.py index 34a865ff96f1..3d8d6af9090c 100644 --- a/source/isaaclab/test/sensors/test_sensor_base.py +++ b/source/isaaclab/test/sensors/test_sensor_base.py @@ -23,7 +23,7 @@ import isaaclab.sim as sim_utils from isaaclab.sensors import SensorBase, SensorBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @dataclass diff --git a/source/isaaclab/test/utils/test_modifiers.py b/source/isaaclab/test/utils/test_modifiers.py index 9cdd9a5d6631..d01771256059 100644 --- a/source/isaaclab/test/utils/test_modifiers.py +++ b/source/isaaclab/test/utils/test_modifiers.py @@ -18,7 +18,7 @@ import torch import isaaclab.utils.modifiers as modifiers -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/test/visualization/check_scene_xr_visualization.py b/source/isaaclab/test/visualization/check_scene_xr_visualization.py index b03fa9e88bd2..0ecded8048a8 100644 --- a/source/isaaclab/test/visualization/check_scene_xr_visualization.py +++ b/source/isaaclab/test/visualization/check_scene_xr_visualization.py @@ -43,7 +43,7 @@ from isaaclab.assets import AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.ui.xr_widgets import DataCollector, TriggerType, VisualizationManager, XRVisualization, update_instruction -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/source/isaaclab_contrib/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_contrib/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_contrib/docs/README.md b/source/isaaclab_contrib/docs/README.md index ea09129849f5..5d6caed5f88a 100644 --- a/source/isaaclab_contrib/docs/README.md +++ b/source/isaaclab_contrib/docs/README.md @@ -142,7 +142,7 @@ multirotor_cfg = MultirotorCfg( ```python from isaaclab.envs import ManagerBasedRLEnvCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_contrib.mdp.actions import ThrustActionCfg @configclass diff --git a/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py index 1c20492fc2c1..5412acbe1de1 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py @@ -6,7 +6,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING, Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .thruster import Thruster diff --git a/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py index 0a8538cc14f0..3d3037ddb9bc 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py @@ -8,7 +8,7 @@ from typing import TYPE_CHECKING from isaaclab.assets.articulation import ArticulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_contrib.actuators import ThrusterCfg diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_acceleration_control_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_acceleration_control_cfg.py index 6a1f6c7db7e2..720d52d4ec58 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_acceleration_control_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_acceleration_control_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .lee_acceleration_control import LeeAccController from .lee_controller_base_cfg import LeeControllerBaseCfg diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_attitude_control_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_attitude_control_cfg.py index bcf0f9f3ca13..b6e229575fc0 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_attitude_control_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_attitude_control_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .lee_attitude_control import LeeAttController from .lee_controller_base_cfg import LeeControllerBaseCfg diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_controller_base_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_controller_base_cfg.py index 3a279f7ddb81..27168656adbb 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_controller_base_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_controller_base_cfg.py @@ -6,7 +6,7 @@ import math from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_position_control_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_position_control_cfg.py index e2df30f8aa70..461ec0a4516f 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_position_control_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_position_control_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .lee_controller_base_cfg import LeeControllerBaseCfg from .lee_position_control import LeePosController diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_velocity_control_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_velocity_control_cfg.py index 13ef9814d268..5347cb0dffc7 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_velocity_control_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_velocity_control_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .lee_controller_base_cfg import LeeControllerBaseCfg from .lee_velocity_control import LeeVelController diff --git a/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py index d06242f80ab0..dfe619544201 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py @@ -8,7 +8,7 @@ from typing import TYPE_CHECKING from isaaclab.managers.action_manager import ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from isaaclab_contrib.controllers import LeeAccControllerCfg, LeePosControllerCfg, LeeVelControllerCfg diff --git a/source/isaaclab_contrib/isaaclab_contrib/sensors/tacsl_sensor/visuotactile_sensor_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/sensors/tacsl_sensor/visuotactile_sensor_cfg.py index 3eccac3db2a5..8f5b0d187e1d 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/sensors/tacsl_sensor/visuotactile_sensor_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/sensors/tacsl_sensor/visuotactile_sensor_cfg.py @@ -13,8 +13,8 @@ from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import VISUO_TACTILE_SENSOR_MARKER_CFG from isaaclab.sensors import CameraCfg, SensorBaseCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .visuotactile_sensor import VisuoTactileSensor diff --git a/source/isaaclab_experimental/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_experimental/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_experimental/isaaclab_experimental/envs/mdp/actions/actions_cfg.py b/source/isaaclab_experimental/isaaclab_experimental/envs/mdp/actions/actions_cfg.py index 39d5b29c6fdb..f100b5235f00 100644 --- a/source/isaaclab_experimental/isaaclab_experimental/envs/mdp/actions/actions_cfg.py +++ b/source/isaaclab_experimental/isaaclab_experimental/envs/mdp/actions/actions_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_experimental.managers.action_manager import ActionTerm, ActionTermCfg diff --git a/source/isaaclab_experimental/isaaclab_experimental/managers/manager_base.py b/source/isaaclab_experimental/isaaclab_experimental/managers/manager_base.py index d40920b23fe9..6caea3eebcbb 100644 --- a/source/isaaclab_experimental/isaaclab_experimental/managers/manager_base.py +++ b/source/isaaclab_experimental/isaaclab_experimental/managers/manager_base.py @@ -57,7 +57,7 @@ class should also have a corresponding configuration class that defines the conf .. code-block:: python - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab.utils.mdp import ManagerBase, ManagerTermBaseCfg diff --git a/source/isaaclab_experimental/isaaclab_experimental/managers/manager_term_cfg.py b/source/isaaclab_experimental/isaaclab_experimental/managers/manager_term_cfg.py index 3fab3bfc5ffc..ce354be66a2a 100644 --- a/source/isaaclab_experimental/isaaclab_experimental/managers/manager_term_cfg.py +++ b/source/isaaclab_experimental/isaaclab_experimental/managers/manager_term_cfg.py @@ -20,7 +20,7 @@ from isaaclab.managers.manager_term_cfg import * # noqa: F401,F403 from isaaclab.managers.manager_term_cfg import ManagerTermBaseCfg as _ManagerTermBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_experimental/isaaclab_experimental/utils/modifiers/modifier_cfg.py b/source/isaaclab_experimental/isaaclab_experimental/utils/modifiers/modifier_cfg.py index 7cc22eaee6a9..82625feb0433 100644 --- a/source/isaaclab_experimental/isaaclab_experimental/utils/modifiers/modifier_cfg.py +++ b/source/isaaclab_experimental/isaaclab_experimental/utils/modifiers/modifier_cfg.py @@ -9,7 +9,7 @@ from dataclasses import MISSING from typing import Any -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_experimental/isaaclab_experimental/utils/noise/noise_cfg.py b/source/isaaclab_experimental/isaaclab_experimental/utils/noise/noise_cfg.py index 5c7045e65a69..767fbb0451f9 100644 --- a/source/isaaclab_experimental/isaaclab_experimental/utils/noise/noise_cfg.py +++ b/source/isaaclab_experimental/isaaclab_experimental/utils/noise/noise_cfg.py @@ -13,7 +13,7 @@ import warp as wp -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import noise_model diff --git a/source/isaaclab_mimic/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_mimic/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_toy2box_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_toy2box_mimic_env_cfg.py index 76557802f463..49de09cca495 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_toy2box_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_toy2box_mimic_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.place.config.agibot.place_toy2box_rmp_rel_env_cfg import ( RmpFlowAgibotPlaceToy2BoxEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_upright_mug_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_upright_mug_mimic_env_cfg.py index 2bfadef874c3..f1398d2f98d4 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_upright_mug_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_upright_mug_mimic_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.place.config.agibot.place_upright_mug_rmp_rel_env_cfg import ( RmpFlowAgibotPlaceUprightMugEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/exhaustpipe_gr1t2_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/exhaustpipe_gr1t2_mimic_env_cfg.py index ed37975c6afe..289ba14eba7b 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/exhaustpipe_gr1t2_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/exhaustpipe_gr1t2_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.pick_place.exhaustpipe_gr1t2_pink_ik_env_cfg import ( ExhaustPipeGR1T2PinkIKEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_bin_stack_ik_rel_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_bin_stack_ik_rel_mimic_env_cfg.py index ca28719d7306..59401823be79 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_bin_stack_ik_rel_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_bin_stack_ik_rel_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.franka.bin_stack_ik_rel_env_cfg import FrankaBinStackEnvCfg diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_abs_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_abs_mimic_env_cfg.py index 93e51d8f673e..d8d9564a98bc 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_abs_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_abs_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_abs_env_cfg import FrankaCubeStackEnvCfg diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_blueprint_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_blueprint_mimic_env_cfg.py index cd75bea018a1..b2057eb30b66 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_blueprint_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_blueprint_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_rel_blueprint_env_cfg import ( FrankaCubeStackBlueprintEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py index 8f7d6af8df7f..c874c504d86b 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_rel_env_cfg import FrankaCubeStackEnvCfg diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_skillgen_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_skillgen_env_cfg.py index 9d26039126be..377aee477e71 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_skillgen_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_skillgen_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_rel_env_cfg_skillgen import ( FrankaCubeStackSkillgenEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py index 2f2ebe5ab339..76e34c17db61 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_rel_visuomotor_cosmos_env_cfg import ( FrankaCubeStackVisuomotorCosmosEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_mimic_env_cfg.py index 816d85f611c4..a79373833167 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_rel_visuomotor_env_cfg import ( FrankaCubeStackVisuomotorEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_abs_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_abs_mimic_env_cfg.py index d3de8a9aa3d2..8674e28d8f06 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_abs_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_abs_mimic_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.galbot.stack_rmp_rel_env_cfg import ( RmpFlowGalbotLeftArmCubeStackEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_rel_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_rel_mimic_env_cfg.py index ce4d00015a3e..812df7337c01 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_rel_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_rel_mimic_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.config.galbot.stack_rmp_rel_env_cfg import ( RmpFlowGalbotLeftArmCubeStackEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/locomanipulation_g1_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/locomanipulation_g1_mimic_env_cfg.py index 2aa766dec33c..92b89babad66 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/locomanipulation_g1_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/locomanipulation_g1_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomanipulation.pick_place.locomanipulation_g1_env_cfg import ( LocomanipulationG1EnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/nutpour_gr1t2_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/nutpour_gr1t2_mimic_env_cfg.py index 683d4be09e44..ee72870c61af 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/nutpour_gr1t2_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/nutpour_gr1t2_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.pick_place.nutpour_gr1t2_pink_ik_env_cfg import NutPourGR1T2PinkIKEnvCfg diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_mimic_env_cfg.py index 0297fb72a1bc..724e1a05d8d9 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.pick_place.pickplace_gr1t2_env_cfg import PickPlaceGR1T2EnvCfg diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_waist_enabled_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_waist_enabled_mimic_env_cfg.py index f9528b277dba..26299d03d520 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_waist_enabled_mimic_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_waist_enabled_mimic_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.pick_place.pickplace_gr1t2_waist_enabled_env_cfg import ( PickPlaceGR1T2WaistEnabledEnvCfg, diff --git a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py index 431a890d510d..2b86e6b3913b 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py +++ b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py @@ -14,8 +14,8 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.sensors import CameraCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path +from isaaclab.utils.configclass import configclass from isaaclab.utils.datasets import EpisodeData from isaaclab_mimic.locomanipulation_sdg.data_classes import LocomanipulationSDGInputData diff --git a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env_cfg.py index 2ccefe4d0c7b..9c1376c6dce8 100644 --- a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env_cfg.py +++ b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env_cfg.py @@ -9,7 +9,7 @@ from isaaclab.managers import EventTermCfg as EventTerm from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.managers.recorder_manager import RecorderTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_newton/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_newton/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_newton/isaaclab_newton/physics/featherstone_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/featherstone_manager_cfg.py index fc4278b49788..4202b46914a7 100644 --- a/source/isaaclab_newton/isaaclab_newton/physics/featherstone_manager_cfg.py +++ b/source/isaaclab_newton/isaaclab_newton/physics/featherstone_manager_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .newton_manager_cfg import NewtonSolverCfg diff --git a/source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py index 71c871f9d54d..e88e54e59ab3 100644 --- a/source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py +++ b/source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .newton_manager_cfg import NewtonSolverCfg diff --git a/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_manager_cfg.py index 673867902c2c..0080e452bef4 100644 --- a/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_manager_cfg.py +++ b/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_manager_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .newton_manager_cfg import NewtonSolverCfg diff --git a/source/isaaclab_newton/isaaclab_newton/physics/xpbd_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/xpbd_manager_cfg.py index 0555bd95a412..bc8fd3c9813d 100644 --- a/source/isaaclab_newton/isaaclab_newton/physics/xpbd_manager_cfg.py +++ b/source/isaaclab_newton/isaaclab_newton/physics/xpbd_manager_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .newton_manager_cfg import NewtonSolverCfg diff --git a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer_cfg.py b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer_cfg.py index 96db9ca41fd1..9249fbf4ee71 100644 --- a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer_cfg.py +++ b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer_cfg.py @@ -6,7 +6,7 @@ """Configuration for Newton Warp Renderer.""" from isaaclab.renderers.renderer_cfg import RendererCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py b/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py index 196c5d0349e7..924c7292ede4 100644 --- a/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py +++ b/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py @@ -7,7 +7,7 @@ from typing import TYPE_CHECKING from isaaclab.sensors.contact_sensor.contact_sensor_cfg import ContactSensorCfg as BaseContactSensorCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .contact_sensor import ContactSensor diff --git a/source/isaaclab_newton/isaaclab_newton/sim/schemas/schemas_cfg.py b/source/isaaclab_newton/isaaclab_newton/sim/schemas/schemas_cfg.py index f0065daa867f..d98fbc3a2368 100644 --- a/source/isaaclab_newton/isaaclab_newton/sim/schemas/schemas_cfg.py +++ b/source/isaaclab_newton/isaaclab_newton/sim/schemas/schemas_cfg.py @@ -15,7 +15,7 @@ RigidBodyBaseCfg, ) from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_newton/isaaclab_newton/video_recording/newton_gl_perspective_video_cfg.py b/source/isaaclab_newton/isaaclab_newton/video_recording/newton_gl_perspective_video_cfg.py index 6408b2ac0e53..71314ac7401c 100644 --- a/source/isaaclab_newton/isaaclab_newton/video_recording/newton_gl_perspective_video_cfg.py +++ b/source/isaaclab_newton/isaaclab_newton/video_recording/newton_gl_perspective_video_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING, Any -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: pass diff --git a/source/isaaclab_newton/test/sensors/test_contact_sensor.py b/source/isaaclab_newton/test/sensors/test_contact_sensor.py index 3aaa6e14b39c..230214e9588b 100644 --- a/source/isaaclab_newton/test/sensors/test_contact_sensor.py +++ b/source/isaaclab_newton/test/sensors/test_contact_sensor.py @@ -45,7 +45,7 @@ from isaaclab.sensors import ContactSensor, ContactSensorCfg from isaaclab.sim import build_simulation_context from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG diff --git a/source/isaaclab_newton/test/sensors/test_frame_transformer.py b/source/isaaclab_newton/test/sensors/test_frame_transformer.py index 236fb53f25d9..484f175f67e6 100644 --- a/source/isaaclab_newton/test/sensors/test_frame_transformer.py +++ b/source/isaaclab_newton/test/sensors/test_frame_transformer.py @@ -24,7 +24,7 @@ from isaaclab.sensors import FrameTransformerCfg, OffsetCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/source/isaaclab_newton/test/sensors/test_imu.py b/source/isaaclab_newton/test/sensors/test_imu.py index 3edb4c908398..324219084db5 100644 --- a/source/isaaclab_newton/test/sensors/test_imu.py +++ b/source/isaaclab_newton/test/sensors/test_imu.py @@ -21,7 +21,7 @@ from isaaclab.sensors.imu import Imu, ImuCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py b/source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py index fedf7c359081..fb99cbe56f72 100644 --- a/source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py +++ b/source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py @@ -22,9 +22,9 @@ from isaaclab.sensors.joint_wrench import JointWrenchSensor, JointWrenchSensorCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass from isaaclab.utils import math as math_utils from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.ant import ANT_CFG diff --git a/source/isaaclab_newton/test/sensors/test_pva.py b/source/isaaclab_newton/test/sensors/test_pva.py index 8d14b9cb77ef..85b5e4f66257 100644 --- a/source/isaaclab_newton/test/sensors/test_pva.py +++ b/source/isaaclab_newton/test/sensors/test_pva.py @@ -21,7 +21,7 @@ from isaaclab.sensors.pva import Pva, PvaCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py b/source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py index e8b28aad2d95..594a55e13584 100644 --- a/source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py +++ b/source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py @@ -31,7 +31,7 @@ from isaaclab.assets import RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationCfg, build_simulation_context -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass NEWTON_SIM_CFG = SimulationCfg(physics=NewtonCfg(solver_cfg=MJWarpSolverCfg())) WORLD_MARKER_POS = (5.0, 3.0, 1.0) diff --git a/source/isaaclab_ov/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_ov/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py index f8cf694040b1..6c5a7fc29a0f 100644 --- a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py +++ b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py @@ -9,7 +9,7 @@ from pathlib import Path from isaaclab.renderers.renderer_cfg import RendererCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_ovphysx/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_ovphysx/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_ovphysx/isaaclab_ovphysx/physics/ovphysx_manager_cfg.py b/source/isaaclab_ovphysx/isaaclab_ovphysx/physics/ovphysx_manager_cfg.py index c74dc56209ea..96047e46363d 100644 --- a/source/isaaclab_ovphysx/isaaclab_ovphysx/physics/ovphysx_manager_cfg.py +++ b/source/isaaclab_ovphysx/isaaclab_ovphysx/physics/ovphysx_manager_cfg.py @@ -8,7 +8,7 @@ from __future__ import annotations from isaaclab.physics import PhysicsCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_physx/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_physx/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_physx/isaaclab_physx/assets/deformable_object/deformable_object_cfg.py b/source/isaaclab_physx/isaaclab_physx/assets/deformable_object/deformable_object_cfg.py index 7dbf060c27b6..9c54aa7b6b0b 100644 --- a/source/isaaclab_physx/isaaclab_physx/assets/deformable_object/deformable_object_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/assets/deformable_object/deformable_object_cfg.py @@ -10,7 +10,7 @@ from isaaclab.assets.asset_base_cfg import AssetBaseCfg from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import DEFORMABLE_TARGET_MARKER_CFG -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .deformable_object import DeformableObject diff --git a/source/isaaclab_physx/isaaclab_physx/assets/surface_gripper/surface_gripper_cfg.py b/source/isaaclab_physx/isaaclab_physx/assets/surface_gripper/surface_gripper_cfg.py index 7b2c3c5493fe..3aa74800e026 100644 --- a/source/isaaclab_physx/isaaclab_physx/assets/surface_gripper/surface_gripper_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/assets/surface_gripper/surface_gripper_cfg.py @@ -7,7 +7,7 @@ from typing import TYPE_CHECKING from isaaclab.assets.asset_base_cfg import AssetBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .surface_gripper import SurfaceGripper diff --git a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager_cfg.py b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager_cfg.py index 301ffa3c72ed..18ba5303134f 100644 --- a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager_cfg.py @@ -10,7 +10,7 @@ from typing import TYPE_CHECKING, Literal from isaaclab.physics import PhysicsCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .physx_manager import PhysxManager diff --git a/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer_cfg.py b/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer_cfg.py index de5d433e867f..2f765546bafe 100644 --- a/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer_cfg.py @@ -8,7 +8,7 @@ from typing import Literal from isaaclab.renderers.renderer_cfg import RendererCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor_cfg.py b/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor_cfg.py index 8950342a0f37..095ab64ac696 100644 --- a/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor_cfg.py @@ -6,7 +6,7 @@ from typing import TYPE_CHECKING from isaaclab.sensors.contact_sensor.contact_sensor_cfg import ContactSensorCfg as _BaseContactSensorCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .contact_sensor import ContactSensor diff --git a/source/isaaclab_physx/isaaclab_physx/sim/schemas/schemas_cfg.py b/source/isaaclab_physx/isaaclab_physx/sim/schemas/schemas_cfg.py index e6bdea28d24e..88729c2b0f0f 100644 --- a/source/isaaclab_physx/isaaclab_physx/sim/schemas/schemas_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/sim/schemas/schemas_cfg.py @@ -16,7 +16,7 @@ MeshCollisionBaseCfg, RigidBodyBaseCfg, ) -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_physx/isaaclab_physx/sim/spawners/materials/physics_materials_cfg.py b/source/isaaclab_physx/isaaclab_physx/sim/spawners/materials/physics_materials_cfg.py index 2c8121a5cbee..7128a080b502 100644 --- a/source/isaaclab_physx/isaaclab_physx/sim/spawners/materials/physics_materials_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/sim/spawners/materials/physics_materials_cfg.py @@ -12,7 +12,7 @@ from isaaclab.sim.spawners.materials import PhysicsMaterialCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_physx/isaaclab_physx/sim/spawners/spawner_cfg.py b/source/isaaclab_physx/isaaclab_physx/sim/spawners/spawner_cfg.py index dda028508762..d4843ec83d3e 100644 --- a/source/isaaclab_physx/isaaclab_physx/sim/spawners/spawner_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/sim/spawners/spawner_cfg.py @@ -8,7 +8,7 @@ from typing import TYPE_CHECKING from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from isaaclab.sim import schemas diff --git a/source/isaaclab_physx/isaaclab_physx/video_recording/isaacsim_kit_perspective_video_cfg.py b/source/isaaclab_physx/isaaclab_physx/video_recording/isaacsim_kit_perspective_video_cfg.py index c3f9280976aa..7e05155fbd82 100644 --- a/source/isaaclab_physx/isaaclab_physx/video_recording/isaacsim_kit_perspective_video_cfg.py +++ b/source/isaaclab_physx/isaaclab_physx/video_recording/isaacsim_kit_perspective_video_cfg.py @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING, Any -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: pass diff --git a/source/isaaclab_physx/test/sensors/test_contact_sensor.py b/source/isaaclab_physx/test/sensors/test_contact_sensor.py index 685d9204b3ef..b3ce3b40edb5 100644 --- a/source/isaaclab_physx/test/sensors/test_contact_sensor.py +++ b/source/isaaclab_physx/test/sensors/test_contact_sensor.py @@ -30,7 +30,7 @@ from isaaclab.sim import SimulationCfg, SimulationContext, build_simulation_context from isaaclab.sim.utils.stage import get_current_stage from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Custom helper classes. diff --git a/source/isaaclab_physx/test/sensors/test_frame_transformer.py b/source/isaaclab_physx/test/sensors/test_frame_transformer.py index 28559f9b6da5..f7d9c5db5817 100644 --- a/source/isaaclab_physx/test/sensors/test_frame_transformer.py +++ b/source/isaaclab_physx/test/sensors/test_frame_transformer.py @@ -24,7 +24,7 @@ from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import FrameTransformerCfg, OffsetCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/source/isaaclab_physx/test/sensors/test_imu.py b/source/isaaclab_physx/test/sensors/test_imu.py index 641c72a8d4ba..08aaa1bd1818 100644 --- a/source/isaaclab_physx/test/sensors/test_imu.py +++ b/source/isaaclab_physx/test/sensors/test_imu.py @@ -27,7 +27,7 @@ from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors.imu import Imu, ImuCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py b/source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py index 4f10f2506ebb..8aef39cace4b 100644 --- a/source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py +++ b/source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py @@ -28,9 +28,9 @@ from isaaclab.sensors import JointWrenchSensor, JointWrenchSensorCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass from isaaclab.utils import math as math_utils from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.ant import ANT_CFG diff --git a/source/isaaclab_physx/test/sensors/test_pva.py b/source/isaaclab_physx/test/sensors/test_pva.py index feb527f88c62..27018230f960 100644 --- a/source/isaaclab_physx/test/sensors/test_pva.py +++ b/source/isaaclab_physx/test/sensors/test_pva.py @@ -28,7 +28,7 @@ from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors.pva import Pva, PvaCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/source/isaaclab_physx/test/sim/test_cloner.py b/source/isaaclab_physx/test/sim/test_cloner.py index f90c740f17ed..a4f1c730fc2d 100644 --- a/source/isaaclab_physx/test/sim/test_cloner.py +++ b/source/isaaclab_physx/test/sim/test_cloner.py @@ -587,7 +587,7 @@ def test_disabled_fabric_change_notifies_speedup_regression(): import isaaclab.sim as sim_utils from isaaclab.assets import RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass if fabric_notices_mod.get_bindings() is None: pytest.skip("omni::fabric::IFabricUsd unavailable") diff --git a/source/isaaclab_rl/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_rl/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py b/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py index 2fdf88badb61..3b0aac88e506 100644 --- a/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py index f94e94112901..07b10d507c55 100644 --- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py @@ -8,7 +8,7 @@ from dataclasses import MISSING from typing import Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rl_cfg import RslRlBaseRunnerCfg, RslRlMLPModelCfg diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py index 6a57d492b7f3..d7575ce258c6 100644 --- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py @@ -8,7 +8,7 @@ from dataclasses import MISSING from typing import Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rnd_cfg import RslRlRndCfg from .symmetry_cfg import RslRlSymmetryCfg diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py index ed8f41e8d55a..b5fbef590964 100644 --- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py index 535308c2c348..12466272edd5 100644 --- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_tasks/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_tasks/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/rsl_rl_ppo_cfg.py index a80cf1ee33a2..784a18239f6e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py index bd982c5d7105..418f4e81ab93 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py @@ -14,8 +14,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/rsl_rl_ppo_cfg.py index c2e7f15852ff..f59450f655a1 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/ant/ant_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/ant/ant_env_cfg.py index 7ee86abc0013..90dab2e8809d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/ant/ant_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/ant/ant_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/rsl_rl_ppo_cfg.py index 55b34655b639..9b9cbced3d8f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env_cfg.py index f2939b661508..630be7618d3f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.sensors import ContactSensorCfg, RayCasterCfg, patterns from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_env_cfg.py index 7fae88707c5c..a8dae7034eb3 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_env_cfg.py @@ -12,7 +12,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .assembly_tasks_cfg import ASSET_DIR, Insertion diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_tasks_cfg.py index fcc965276c4e..635cedc27143 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_tasks_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_tasks_cfg.py @@ -5,8 +5,8 @@ import isaaclab.sim as sim_utils from isaaclab.assets import ArticulationCfg, RigidObjectCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ASSET_DIR = f"{ISAACLAB_NUCLEUS_DIR}/AutoMate" diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env_cfg.py index a2b7fbe49133..c5c197393b65 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env_cfg.py @@ -13,7 +13,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .disassembly_tasks_cfg import ASSET_DIR, Extraction diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_tasks_cfg.py index 1c3037873031..53307fd40341 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_tasks_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_tasks_cfg.py @@ -5,8 +5,8 @@ import isaaclab.sim as sim_utils from isaaclab.assets import ArticulationCfg, RigidObjectCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ASSET_DIR = f"{ISAACLAB_NUCLEUS_DIR}/AutoMate" diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py index f146ef56330f..47ec6d2da69a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py @@ -16,7 +16,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.from_files import GroundPlaneCfg, spawn_ground_plane -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.math import sample_uniform from isaaclab_assets.robots.cart_double_pendulum import CART_DOUBLE_PENDULUM_CFG diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env_cfg.py index 048750158cdc..538e2e4cd55f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env_cfg.py @@ -9,7 +9,7 @@ from isaaclab.envs import DirectMARLEnvCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.cart_double_pendulum import CART_DOUBLE_PENDULUM_CFG diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/rsl_rl_ppo_cfg.py index 7d308b9f5c45..70c5c2d433b2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_env_cfg.py index 9539b99bfb89..2bf923446e46 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_env_cfg.py @@ -11,7 +11,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import CameraCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils.presets import MultiBackendRendererCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py index 2b436f2d5e51..a245b46f73e2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import CameraCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg from isaaclab_tasks.utils.presets import MultiBackendRendererCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env_cfg.py index 2b93d0f0ed79..11720f0c238d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env_cfg.py @@ -13,7 +13,7 @@ from isaaclab.envs import DirectRLEnvCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/cartpole_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/cartpole_env_cfg.py index 9384305a07ed..2ff10fa8f8ab 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/cartpole_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/cartpole_env_cfg.py @@ -7,7 +7,7 @@ from gymnasium import spaces -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.direct.cartpole.cartpole_env_cfg import CartpoleEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/cartpole_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/cartpole_camera_env_cfg.py index c81fe197bab1..d3e78a6bd4b7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/cartpole_camera_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/cartpole_camera_env_cfg.py @@ -9,7 +9,7 @@ import isaaclab.sim as sim_utils from isaaclab.sensors import CameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.direct.cartpole.cartpole_camera_env_cfg import CartpoleRGBCameraEnvCfg as CartpoleCameraEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py index 028184ff7ba7..a250380e2566 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py @@ -12,7 +12,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .factory_tasks_cfg import ASSET_DIR, FactoryTask, GearMesh, NutThread, PegInsert diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_tasks_cfg.py index 24b35617bce4..4841f58d161b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_tasks_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_tasks_cfg.py @@ -5,8 +5,8 @@ import isaaclab.sim as sim_utils from isaaclab.assets import ArticulationCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ASSET_DIR = f"{ISAACLAB_NUCLEUS_DIR}/Factory" diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_env_cfg.py index 5da73aa2ae35..424793217746 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_env_cfg.py @@ -6,7 +6,7 @@ import isaaclab.envs.mdp as mdp from isaaclab.managers import EventTermCfg as EventTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.direct.factory.factory_env_cfg import OBS_DIM_CFG, STATE_DIM_CFG, CtrlCfg, FactoryEnvCfg, ObsRandCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_tasks_cfg.py index 1529543e1889..ed1a1fea3275 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_tasks_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_tasks_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.direct.factory.factory_tasks_cfg import FactoryTask, GearMesh, NutThread, PegInsert diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/rsl_rl_ppo_cfg.py index c467360e61a5..20c0e8923147 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py index 32b7a88d3e9b..107d9443695e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py @@ -12,8 +12,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/rsl_rl_ppo_cfg.py index 07ea4e8590f1..f3f1df1a4e2b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/humanoid_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/humanoid_env_cfg.py index b2b10dc2d911..93a085f4033b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/humanoid_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/humanoid_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env_cfg.py index 324717dd6c18..9901d45454f0 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.envs import DirectRLEnvCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets import HUMANOID_28_CFG diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/rsl_rl_ppo_cfg.py index 254072606f13..1ba7cb28899f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env_cfg.py index d893535fe210..305d001a7821 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env_cfg.py @@ -11,7 +11,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets import CRAZYFLIE_CFG # isort: skip diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/rsl_rl_ppo_cfg.py index fa4a96cb32e7..ff6610ce6b70 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/feature_extractor.py b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/feature_extractor.py index d7dedbf196a6..56c159a1446e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/feature_extractor.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/feature_extractor.py @@ -11,7 +11,7 @@ import torchvision from isaaclab.sensors import save_images_to_file -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass # Number of output channels for each supported camera data type. _DATA_TYPE_CHANNELS: dict[str, int] = { diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py index 0a2258d0b0b1..bfe7da0aa435 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py @@ -17,8 +17,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import GaussianNoiseCfg, NoiseModelWithAdditiveBiasCfg from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_vision_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_vision_env_cfg.py index 5612b8c6d54e..8a6901c0239b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_vision_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_vision_env_cfg.py @@ -8,7 +8,7 @@ import isaaclab.sim as sim_utils from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import CameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg from isaaclab_tasks.utils.presets import MultiBackendRendererCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/shadow_hand_over_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/shadow_hand_over_env_cfg.py index e2d8bdbd8d6d..fe32b46f503f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/shadow_hand_over_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/shadow_hand_over_env_cfg.py @@ -17,7 +17,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.direct.shadow_hand.shadow_hand_env_cfg import ShadowHandRobotCfg from isaaclab_tasks.utils import PresetCfg, preset diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/rsl_rl_ppo_cfg.py index 56cb2c4fd3a0..a7c905171e27 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/ant_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/ant_env_cfg.py index 53781c0ced16..4d1798c950ff 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/ant_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/ant_env_cfg.py @@ -18,7 +18,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import JointWrenchSensorCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.classic.humanoid.mdp as mdp from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/rsl_rl_ppo_cfg.py index c53312ee7dd4..0c371f473724 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlSymmetryCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py index 2c4092677fec..0452ca3d5996 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py @@ -8,7 +8,7 @@ from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import CameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.classic.cartpole.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py index f351e635ff6a..9daabb2bb7ba 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py @@ -18,7 +18,7 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.classic.cartpole.mdp as mdp from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/rsl_rl_ppo_cfg.py index 076ad94480eb..f310626ca779 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/rsl_rl_ppo_cfg.py @@ -13,7 +13,7 @@ ==================================================================================================== """ -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py index 3058fc02caf2..0526c248c270 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py @@ -18,7 +18,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import JointWrenchSensorCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.classic.humanoid.mdp as mdp from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/mdp/commands/commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/mdp/commands/commands_cfg.py index cbcb4577308c..16657809b305 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/mdp/commands/commands_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/mdp/commands/commands_cfg.py @@ -6,7 +6,7 @@ from typing import TYPE_CHECKING from isaaclab.envs.mdp.commands.commands_cfg import UniformPoseCommandCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .drone_pose_command import DroneUniformPoseCommand diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py index aeddab56e5f8..eeba299a1a3e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/floating_obstacles_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/floating_obstacles_env_cfg.py index 1990750eefc0..eb6e9258719f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/floating_obstacles_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/floating_obstacles_env_cfg.py @@ -6,7 +6,7 @@ ## # Pre-defined configs ## -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.drone_arl.navigation.config.arl_robot_1.navigation_env_cfg import ( NavigationVelocityFloatingObstacleEnvCfg, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py index 6b4039e254a0..ee52b7390f93 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py @@ -23,8 +23,8 @@ from isaaclab.sensors import ContactSensorCfg from isaaclab.sensors.ray_caster.multi_mesh_ray_caster_camera_cfg import MultiMeshRayCasterCameraCfg from isaaclab.sensors.ray_caster.patterns import PinholeCameraPatternCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise from isaaclab_contrib.assets import MultirotorCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/scenes/obstacle_scenes/obstacle_scene_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/scenes/obstacle_scenes/obstacle_scene_cfg.py index c42610dc10b7..ddb8c2efec27 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/scenes/obstacle_scenes/obstacle_scene_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/scenes/obstacle_scenes/obstacle_scene_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py index 9a9b0de5bb38..d3cf82f5d946 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/no_obstacle_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/no_obstacle_env_cfg.py index 92a11d824420..f5e45096f9a4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/no_obstacle_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/no_obstacle_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.arl_robot_1 import ARL_ROBOT_1_CFG diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py index de61f13b8a9a..b314533d1633 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py @@ -18,8 +18,8 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise from isaaclab_contrib.assets import MultirotorCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/action_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/action_cfg.py index 320d7d738ea0..13572994ee49 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/action_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/action_cfg.py @@ -7,7 +7,7 @@ from typing import TYPE_CHECKING from isaaclab.managers.action_manager import ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from ..mdp.actions import AgileBasedLowerBodyAction diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/agile_locomotion_observation_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/agile_locomotion_observation_cfg.py index 6fd0b6dbdf9d..a3d811313bd8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/agile_locomotion_observation_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/agile_locomotion_observation_cfg.py @@ -7,7 +7,7 @@ from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py index 06b64c781701..10fb9cdf9492 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py @@ -15,8 +15,8 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomanipulation.pick_place import mdp as locomanip_mdp from isaaclab_tasks.manager_based.manipulation.pick_place import mdp as manip_mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py index 1a2ef2826de4..1a5989c32886 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py @@ -15,8 +15,8 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomanipulation.pick_place import mdp as locomanip_mdp from isaaclab_tasks.manager_based.locomanipulation.pick_place.configs.action_cfg import AgileBasedLowerBodyActionCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py index 2118f550cc12..10a84ace6454 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/loco_manip_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/loco_manip_env_cfg.py index a83e3e2b1e62..c7c3a1d9fef4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/loco_manip_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/loco_manip_env_cfg.py @@ -9,7 +9,7 @@ from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import RewardTermCfg as RewTerm -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/rsl_rl_ppo_cfg.py index 334aa1768ed6..d90813553289 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py index 93541ff765ae..c29ea2500da4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_physx.physics import PhysxCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py index 2857d3dc0341..e77794159270 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py index 49c227aecdde..65b559e99cd2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlSymmetryCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py index 7b745dfe1a07..88799d6df62e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_physx.physics import PhysxCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py index cf3fc2c3f232..46cc6818d6a6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/rsl_rl_ppo_cfg.py index 06072c7297fe..4b27a2f7452c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlSymmetryCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py index 54c1076625a1..65795ad8230a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_physx.physics import PhysxCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py index 8c4cbb7a84c3..f27a1137b853 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg from isaaclab_tasks.utils import preset diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py index faf362709ed0..153e1f9a50be 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import ( RslRlDistillationAlgorithmCfg, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py index 67690049ee6f..643f9e2d4a98 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import ( RslRlMLPModelCfg, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py index 9a213f9d0f64..5a97b75f7936 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_physx.physics import PhysxCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py index c1c49677e66a..7b32f10b72a6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/rsl_rl_ppo_cfg.py index f7cabdc37474..b36f91766a6f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/flat_env_cfg.py index e9539b6551c5..02bae7147b9e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_physx.physics import PhysxCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py index d8a2ef0874dd..b7dad5fd3a8c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab.managers import RewardTermCfg as RewTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import ( diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/rsl_rl_ppo_cfg.py index 217c7482f19a..6fd4b5a1f183 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py index 48a647e17a64..fd7d12b969ae 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import DigitRoughEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py index aa0f433e4ecc..85b3148ce055 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab.actuators import ImplicitActuatorCfg from isaaclab.managers import ObservationGroupCfg, ObservationTermCfg, RewardTermCfg, SceneEntityCfg, TerminationTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/rsl_rl_ppo_cfg.py index d4b55dadc60f..f3032231f816 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py index 1df1a91447ea..02a3b4d1252f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py @@ -8,7 +8,7 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py index 65dbb157c177..b377b9354c03 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab.managers import RewardTermCfg as RewTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import ( diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/rsl_rl_ppo_cfg.py index de8ca9189ebe..a0bc3030e0ff 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py index 03f62cd96642..ff8a24d0217f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_physx.physics import PhysxCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py index e09ceee0d49d..407dbbad7422 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg from isaaclab_tasks.utils import preset diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/rsl_rl_ppo_cfg.py index e7b0e67b5c2b..fa979f08df46 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py index 9a1d481876d5..bb6c63472336 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_physx.physics import PhysxCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py index 758e9c4dbb09..35a38fc4b1ed 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg from isaaclab_tasks.utils import preset diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/rsl_rl_ppo_cfg.py index fe21c8d1da17..ef3fea049bda 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py index eb501ad12ba7..2b30240f5fbe 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_physx.physics import PhysxCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py index 167141c1747e..701808c9200a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab.managers import RewardTermCfg as RewTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import ( diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/agents/rsl_rl_ppo_cfg.py index 0c7e6f30dac6..55c585d7b53c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py index cffe129dca7a..f6bc4800e61f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py @@ -16,8 +16,8 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.locomotion.velocity.config.spot.mdp as spot_mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py index 7ee1d811734b..1b936e9fc0b9 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py @@ -25,8 +25,8 @@ from isaaclab.sensors import RayCasterCfg, patterns from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/config/camera_config.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/config/camera_config.py index 405948726034..fbd9e9fe248c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/config/camera_config.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/config/camera_config.py @@ -12,7 +12,7 @@ import isaaclab.sim as sim_utils from isaaclab.sensors import CameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/config/robot_config.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/config/robot_config.py index ed70792ca6a0..966422d42a73 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/config/robot_config.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/config/robot_config.py @@ -16,7 +16,7 @@ import math from isaaclab.assets import ArticulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.unitree import G129_CFG_WITH_DEX3_BASE_FIX diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/g129_dex3_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/g129_dex3_env_cfg.py index 50e58134f14c..010658ea1077 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/g129_dex3_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/assemble_trocar/g129_dex3_env_cfg.py @@ -16,7 +16,7 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.assemble_trocar import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/cabinet_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/cabinet_env_cfg.py index 43601c83b95e..a1502f7b2de8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/cabinet_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/cabinet_env_cfg.py @@ -23,8 +23,8 @@ from isaaclab.sensors import FrameTransformerCfg from isaaclab.sensors.frame_transformer import OffsetCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py index aad72a2d8a69..611ea190e00e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/ik_abs_env_cfg.py index 2f47f3239580..3be27e7b532f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/ik_abs_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/ik_abs_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/ik_rel_env_cfg.py index aaaa644ce1c2..83a25d05db8c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/ik_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/ik_rel_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py index 04624c0e6389..4ea654a28f50 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.sensors import FrameTransformerCfg from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.cabinet import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py index 8dfd24624513..b6ea23947e6d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/cabinet_openarm_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/cabinet_openarm_env_cfg.py index 8adcddcb8b0f..a3ae35148232 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/cabinet_openarm_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/cabinet_openarm_env_cfg.py @@ -25,8 +25,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import FrameTransformerCfg from isaaclab.sensors.frame_transformer import OffsetCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass ## # Pre-defined configs diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/joint_pos_env_cfg.py index 05d03942700e..e9bda871acad 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/joint_pos_env_cfg.py @@ -8,7 +8,7 @@ ## from isaaclab.sensors import FrameTransformerCfg from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.cabinet import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/agents/rsl_rl_ppo_cfg.py index 20e68ba87fdf..529abf84b499 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlRNNModelCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/joint_pos_env_cfg.py index bd8382b55212..cece802d760a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/joint_pos_env_cfg.py @@ -13,7 +13,7 @@ from isaaclab.managers import EventTermCfg as EventTerm from isaaclab.managers import RewardTermCfg as RewTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/ros_inference_env_cfg.py index 504a3ccda288..b02b59e66f2c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/rizon_4s/ros_inference_env_cfg.py @@ -9,7 +9,7 @@ from isaaclab.assets import RigidObjectCfg from isaaclab.managers import ObservationTermCfg as ObsTerm -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .joint_pos_env_cfg import Rizon4sGearAssemblyEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py index d49d02f5990f..567f72a51dab 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlRNNModelCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py index 3cb8eeae956e..78b885cbb26d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py @@ -12,7 +12,7 @@ from isaaclab.assets import ArticulationCfg from isaaclab.managers import EventTermCfg as EventTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp import isaaclab_tasks.manager_based.manipulation.deploy.mdp.events as gear_assembly_events diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/ros_inference_env_cfg.py index cdce81364692..cc18759d33d4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/ros_inference_env_cfg.py @@ -6,7 +6,7 @@ import math from isaaclab.assets import RigidObjectCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .joint_pos_env_cfg import UR10e2F85GearAssemblyEnvCfg, UR10e2F140GearAssemblyEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/gear_assembly_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/gear_assembly_env_cfg.py index 6a3fc7f080f4..d5db596be861 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/gear_assembly_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/gear_assembly_env_cfg.py @@ -20,8 +20,8 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim.simulation_cfg import SimulationCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/mdp/noise_models.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/mdp/noise_models.py index 740099a169ee..69294a7323ac 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/mdp/noise_models.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/mdp/noise_models.py @@ -20,7 +20,7 @@ import torch -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.math import quat_from_euler_xyz, quat_mul from isaaclab.utils.noise import ConstantNoiseCfg, NoiseModel, NoiseModelCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/agents/rsl_rl_ppo_cfg.py index 85f2b38e3336..f599e3935d65 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/joint_pos_env_cfg.py index d453af36e4eb..a8f7fc592e75 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/joint_pos_env_cfg.py @@ -8,7 +8,7 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.markers.config import FRAME_MARKER_CFG from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg, OffsetCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp from isaaclab_tasks.manager_based.manipulation.deploy.reach.reach_env_cfg import ReachEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/ros_inference_env_cfg.py index 91de220071bc..25e37d44a2f7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/rizon_4s/ros_inference_env_cfg.py @@ -5,7 +5,7 @@ import math -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .joint_pos_env_cfg import Rizon4sReachEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py index 2e5a4e8dfca9..a10de35aa326 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/joint_pos_env_cfg.py index 1cdc8fd77661..0f65a41cc183 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/joint_pos_env_cfg.py @@ -8,7 +8,7 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.markers.config import FRAME_MARKER_CFG from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg, OffsetCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp from isaaclab_tasks.manager_based.manipulation.deploy.reach.reach_env_cfg import ReachEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/ros_inference_env_cfg.py index af6732a4c5d7..c1b18e395b1a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/ros_inference_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .joint_pos_env_cfg import UR10eReachEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/reach_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/reach_env_cfg.py index 018ef3a49c9c..d7586533b017 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/reach_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/reach_env_cfg.py @@ -16,8 +16,8 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/adr_curriculum.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/adr_curriculum.py index de3aca917f75..9f7c074a7140 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/adr_curriculum.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/adr_curriculum.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause from isaaclab.managers import CurriculumTermCfg as CurrTerm -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/agents/rsl_rl_ppo_cfg.py index 907777f9614c..b1b5196859cf 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/agents/rsl_rl_ppo_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import ( RslRlCNNModelCfg, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/camera_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/camera_cfg.py index cfaae6bbca4c..3ad4be97b0f2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/camera_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/camera_cfg.py @@ -10,7 +10,7 @@ from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import CameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_env_cfg.py index 6513e8d7daa3..9bae34139cda 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab.managers import RewardTermCfg as RewTerm from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import CameraCfg, ContactSensorCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/dexsuite_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/dexsuite_env_cfg.py index 9f12f5b3b0b9..06faa0c25985 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/dexsuite_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/dexsuite_env_cfg.py @@ -20,8 +20,8 @@ from isaaclab.markers import VisualizationMarkersCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import MeshCapsuleCfg, MeshConeCfg, MeshCuboidCfg, MeshSphereCfg, RigidBodyMaterialCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/commands/pose_commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/commands/pose_commands_cfg.py index 7594f0f636ca..b43523c45738 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/commands/pose_commands_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/commands/pose_commands_cfg.py @@ -9,8 +9,8 @@ import isaaclab.sim as sim_utils from isaaclab.managers import CommandTermCfg from isaaclab.markers import VisualizationMarkersCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .pose_commands import ObjectUniformPoseCommand diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/agents/rsl_rl_ppo_cfg.py index ac773b10af3a..05a8d64018fd 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py index 7223ce0234fe..41e53512d30e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.inhand.inhand_env_cfg as inhand_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/inhand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/inhand_env_cfg.py index 891d166c8e1a..59c61828d0e6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/inhand_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/inhand_env_cfg.py @@ -21,8 +21,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim.simulation_cfg import SimulationCfg from isaaclab.sim.spawners.materials import RigidBodyMaterialCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import GaussianNoiseCfg as Gnoise import isaaclab_tasks.manager_based.manipulation.inhand.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/mdp/commands/commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/mdp/commands/commands_cfg.py index 6fe3ad8235ba..11e1001a0b6e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/mdp/commands/commands_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/mdp/commands/commands_cfg.py @@ -8,8 +8,8 @@ import isaaclab.sim as sim_utils from isaaclab.managers import CommandTermCfg from isaaclab.markers import VisualizationMarkersCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/agents/rsl_rl_ppo_cfg.py index c5010a9577df..6dbea70f59be 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py index 4492b487375b..388837be4127 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py @@ -10,8 +10,8 @@ from isaaclab.managers import EventTermCfg as EventTerm from isaaclab.managers import SceneEntityCfg from isaaclab.sim.spawners import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.lift.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py index 5e5c95e7d472..a598c724a0ea 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py index 58c161aab182..90d46450ba9b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py @@ -8,8 +8,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.lift import mdp from isaaclab_tasks.manager_based.manipulation.lift.lift_env_cfg import LiftEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/agents/rsl_rl_ppo_cfg.py index fb962b9cd98f..0c547cd17b77 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/agents/rsl_rl_ppo_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py index 40f6e6552599..c997f5ea770c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py @@ -10,8 +10,8 @@ from isaaclab.sensors import FrameTransformerCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.lift import mdp from isaaclab_tasks.manager_based.manipulation.lift.config.openarm.lift_openarm_env_cfg import LiftEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/lift_openarm_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/lift_openarm_env_cfg.py index 42d6555b4163..fcad5b343498 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/lift_openarm_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/lift_openarm_env_cfg.py @@ -26,8 +26,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from ... import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/lift_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/lift_env_cfg.py index e347a0840a33..f26f7703eb0c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/lift_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/lift_env_cfg.py @@ -21,8 +21,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from . import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py index 98c5aca681d8..f2e7c8b6775a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py @@ -29,8 +29,8 @@ # from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from . import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py index 3dd523de27f6..0ac003f6a8e4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.pick_place.exhaustpipe_gr1t2_base_env_cfg import ( ExhaustPipeGR1T2BaseEnvCfg, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py index ea2980d53b0a..6317e0ed2fbc 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py @@ -29,8 +29,8 @@ # from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from . import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py index db242eee50a0..5afad1f238fc 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.pick_place.nutpour_gr1t2_base_env_cfg import NutPourGR1T2BaseEnvCfg from isaaclab_tasks.manager_based.manipulation.pick_place.pickplace_gr1t2_env_cfg import ( diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py index 8c95df1041eb..5789ecda2031 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py @@ -19,8 +19,8 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path +from isaaclab.utils.configclass import configclass from . import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py index 1c9f19bb3029..f0fc937c53eb 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py @@ -9,7 +9,7 @@ from isaaclab_teleop.xr_cfg import XrCfg from isaaclab.envs import ManagerBasedRLEnvCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .pickplace_gr1t2_env_cfg import ( ActionsCfg, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py index e223e3649894..8afa97e6a42c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py @@ -23,8 +23,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim.schemas.schemas_cfg import MassPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path +from isaaclab.utils.configclass import configclass from . import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py index 4d70b1571a5f..165d68e80117 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py @@ -23,8 +23,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import MassPropertiesCfg, RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.place import mdp as place_mdp from isaaclab_tasks.manager_based.manipulation.stack import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py index ad9b4d9292ec..0c1cbedfea47 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py @@ -20,8 +20,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.place import mdp as place_mdp from isaaclab_tasks.manager_based.manipulation.place.config.agibot import place_toy2box_rmp_rel_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/rsl_rl_ppo_cfg.py index f523c5cc2207..de9445906e8f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py index b090e568965e..869b99d4c65e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py index 024a42270d85..d36063b8c714 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py index 1d480cfb3cb0..ebeb12b58cc9 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py @@ -5,7 +5,7 @@ import math -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp from isaaclab_tasks.manager_based.manipulation.reach.reach_env_cfg import ReachEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/osc_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/osc_env_cfg.py index e612439fda70..24b94f266433 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/osc_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/osc_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.controllers.operational_space_cfg import OperationalSpaceControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import OperationalSpaceControllerActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/agents/rsl_rl_ppo_cfg.py index 0afc5496d059..4422b4719b15 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/joint_pos_env_cfg.py index 6b17b4174cb0..4eff840b708f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/joint_pos_env_cfg.py @@ -7,7 +7,7 @@ # Pre-defined configs ## -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp from isaaclab_tasks.manager_based.manipulation.reach.config.openarm.bimanual.reach_openarm_bi_env_cfg import ReachEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/reach_openarm_bi_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/reach_openarm_bi_env_cfg.py index f111cb41cd20..c0868e377cc0 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/reach_openarm_bi_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/reach_openarm_bi_env_cfg.py @@ -22,7 +22,7 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/agents/rsl_rl_ppo_cfg.py index 9bfdf6530499..f9172d8c5c1a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/agents/rsl_rl_ppo_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/joint_pos_env_cfg.py index 2bfd6e326a5a..b94be83a1d9b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/joint_pos_env_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause from isaaclab.assets.articulation import ArticulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp from isaaclab_tasks.manager_based.manipulation.reach.config.openarm.unimanual.reach_openarm_uni_env_cfg import ( diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py index efde276b7dc6..58963fdd887e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py @@ -22,8 +22,8 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py index ef6ae64a45f5..05ab6eace04c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py index 6ddf935768b8..3d7bc8f3449d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py @@ -5,7 +5,7 @@ import math -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp from isaaclab_tasks.manager_based.manipulation.reach.reach_env_cfg import ReachEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_env_cfg.py index d859e786cf61..12e18d311f9d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_env_cfg.py @@ -25,8 +25,8 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import CollisionPropertiesCfg, RigidBodyPropertiesCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/bin_stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/bin_stack_ik_rel_env_cfg.py index 91ddcbb851cc..d1207f915d17 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/bin_stack_ik_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/bin_stack_ik_rel_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import bin_stack_joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/bin_stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/bin_stack_joint_pos_env_cfg.py index 08f651e954a5..c12d4b1e44b7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/bin_stack_joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/bin_stack_joint_pos_env_cfg.py @@ -12,8 +12,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack import mdp from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py index bedcc4a7730d..96b92b69e610 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass try: import isaacteleop # noqa: F401 -- pipeline builders need isaacteleop at runtime diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py index c96701e23ee6..5de552b355a5 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py @@ -19,7 +19,7 @@ from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import CameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ... import mdp from . import stack_joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py index 1d32adc3426e..724c2d56c440 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py @@ -14,8 +14,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events from isaaclab_tasks.manager_based.manipulation.stack.stack_env_cfg import StackEnvCfg, mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py index a8ed078d07d1..55f2696d3f1e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py @@ -8,7 +8,7 @@ from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ... import mdp from . import stack_joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py index 4f31184585dd..d9174d5d2ebd 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import stack_joint_pos_instance_randomize_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py index ab199c4dcc10..699d617c29a4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py @@ -8,7 +8,7 @@ from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import CameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py index 624df7a8dc1d..61a85efb5a3c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py @@ -15,8 +15,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack import mdp from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py index 83f05e0497df..6eb032060d99 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py @@ -10,8 +10,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack import mdp from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py index a607f0c78c13..4ead882efe50 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py @@ -12,8 +12,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack import mdp from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py index 8c8490ad1c7e..5186720a1a93 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py @@ -17,8 +17,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import CollisionPropertiesCfg, RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack import mdp from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py index 0a9e66310325..25f19e31e631 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.envs.mdp.actions.rmpflow_actions_cfg import RMPFlowActionCfg from isaaclab.sensors import CameraCfg, FrameTransformerCfg from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py index 0e6b2df08b29..44c2457e3dcc 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py @@ -9,7 +9,7 @@ from isaaclab.devices.keyboard import Se3KeyboardCfg from isaaclab.devices.spacemouse import Se3SpaceMouseCfg from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import stack_joint_pos_env_cfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py index 296b95e103a5..40a241f9b904 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py @@ -13,8 +13,8 @@ from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_tasks.manager_based.manipulation.stack import mdp from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_env_cfg.py index 7706fa3923e3..a27a01de305b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_env_cfg.py @@ -18,8 +18,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from . import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_instance_randomize_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_instance_randomize_env_cfg.py index 29c280ab98ef..fbb27932ce36 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_instance_randomize_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_instance_randomize_env_cfg.py @@ -16,8 +16,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from . import mdp diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/agents/rsl_rl_ppo_cfg.py index c02c9b0eb0d0..ecbc9fdf455f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py index 4d4ad67e9305..eb99d7a59a98 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py @@ -12,8 +12,8 @@ from isaaclab.managers import RewardTermCfg as RewTerm from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass import isaaclab_tasks.manager_based.navigation.mdp as mdp from isaaclab_tasks.manager_based.locomotion.velocity.config.anymal_c.flat_env_cfg import AnymalCFlatEnvCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/mdp/pre_trained_policy_action_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/mdp/pre_trained_policy_action_cfg.py index 0c7b54152dfb..49cf75281ad4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/mdp/pre_trained_policy_action_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/mdp/pre_trained_policy_action_cfg.py @@ -6,7 +6,7 @@ from dataclasses import MISSING from isaaclab.managers import ActionTermCfg, ObservationGroupCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py b/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py index 8e00b112f058..a843eeb3ab7e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py +++ b/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py @@ -34,7 +34,8 @@ from omegaconf import OmegaConf from isaaclab.envs.utils.spaces import replace_env_cfg_spaces_with_strings, replace_strings_with_env_cfg_spaces -from isaaclab.utils import configclass, replace_slices_with_strings, replace_strings_with_slices +from isaaclab.utils import replace_slices_with_strings, replace_strings_with_slices +from isaaclab.utils.configclass import configclass from .preset_target import PresetTarget diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py b/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py index f6fac9cb9aa6..2aec60cce07f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py +++ b/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py @@ -7,7 +7,7 @@ from isaaclab_ov.renderers import OVRTXRendererCfg from isaaclab_physx.renderers import IsaacRtxRendererCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import PresetCfg diff --git a/source/isaaclab_tasks/test/test_hydra.py b/source/isaaclab_tasks/test/test_hydra.py index 738884874899..19dd76ab02d4 100644 --- a/source/isaaclab_tasks/test/test_hydra.py +++ b/source/isaaclab_tasks/test/test_hydra.py @@ -13,7 +13,7 @@ import pytest -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils import hydra as hydra_mod from isaaclab_tasks.utils.hydra import ( diff --git a/source/isaaclab_tasks/test/test_preset_cli.py b/source/isaaclab_tasks/test/test_preset_cli.py index d6670289a008..7687425cd9f3 100644 --- a/source/isaaclab_tasks/test/test_preset_cli.py +++ b/source/isaaclab_tasks/test/test_preset_cli.py @@ -410,7 +410,7 @@ def test_bucket_variants_routes_by_base_class_isinstance(): """ from isaaclab.physics import PhysicsCfg from isaaclab.renderers.renderer_cfg import RendererCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils.preset_cli import _bucket_variants_by_target from isaaclab_tasks.utils.preset_target import PresetTarget @@ -531,7 +531,7 @@ def test_help_text_branch_strings(monkeypatch, capsys, build_key, expected_phras """ from isaaclab.physics import PhysicsCfg from isaaclab.renderers.renderer_cfg import RendererCfg - from isaaclab.utils import configclass + from isaaclab.utils.configclass import configclass from isaaclab_tasks.utils.hydra import preset diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/allegro_hand/allegro_hand_warp_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/allegro_hand/allegro_hand_warp_env_cfg.py index 2d607d475329..b63983a6fffa 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/allegro_hand/allegro_hand_warp_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/allegro_hand/allegro_hand_warp_env_cfg.py @@ -13,8 +13,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/ant/ant_env_warp.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/ant/ant_env_warp.py index a2c8f91fa3db..81df556a6a11 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/ant/ant_env_warp.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/ant/ant_env_warp.py @@ -13,7 +13,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets import ANT_CFG diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/cartpole/cartpole_warp_env.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/cartpole/cartpole_warp_env.py index ff3c87da847e..0826f6d98225 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/cartpole/cartpole_warp_env.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/cartpole/cartpole_warp_env.py @@ -17,7 +17,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.from_files import GroundPlaneCfg, spawn_ground_plane -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots.cartpole import CARTPOLE_CFG diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/humanoid/humanoid_warp_env.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/humanoid/humanoid_warp_env.py index 1dc4d23f7814..e5921916af25 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/humanoid/humanoid_warp_env.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/humanoid/humanoid_warp_env.py @@ -13,7 +13,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets import HUMANOID_CFG diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/ant/ant_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/ant/ant_env_cfg.py index 106d1a78ba09..b96b3345815b 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/ant/ant_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/ant/ant_env_cfg.py @@ -17,7 +17,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.classic.humanoid.mdp as mdp diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/cartpole/cartpole_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/cartpole/cartpole_env_cfg.py index 898ac8be4fd0..ae187a593a16 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/cartpole/cartpole_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/cartpole/cartpole_env_cfg.py @@ -18,7 +18,7 @@ from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.classic.cartpole.mdp as mdp diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/humanoid/humanoid_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/humanoid/humanoid_env_cfg.py index 781541a495e6..64ba177e47a2 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/humanoid/humanoid_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/humanoid/humanoid_env_cfg.py @@ -16,7 +16,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.classic.humanoid.mdp as mdp diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py index b27f8098d629..f213286d0cfb 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import UnitreeA1RoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py index 03aec88a4018..ee0f236043a2 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py @@ -5,7 +5,7 @@ from isaaclab_experimental.managers import TerminationTermCfg as DoneTerm -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.locomotion.velocity.mdp as mdp from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import ( diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py index 28c0dc5c26b6..a5c825bf2e98 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import AnymalBRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py index 9811356ef220..3a7d80af470f 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py index e82cf9559d61..3cc348a97675 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import AnymalCRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py index 36af75613c07..1d2f2676c64a 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py index 1f98c1b56120..702443e815e2 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import AnymalDRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py index 1cafa006ee64..71f49edd2e68 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/cassie/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/cassie/flat_env_cfg.py index bcc670cf3788..818c7aa30a1e 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/cassie/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/cassie/flat_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import CassieRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py index 43341babeb3d..2fc44ea36cdc 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_experimental.managers import RewardTermCfg as RewTerm from isaaclab_experimental.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.locomotion.velocity.mdp as mdp from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import ( diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py index 3d9047a98506..e99dd95ff82f 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py @@ -7,7 +7,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import G1RoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py index db4cc159e4c5..7f9d12d0f201 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_experimental.managers import RewardTermCfg as RewTerm from isaaclab_experimental.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.locomotion.velocity.mdp as mdp from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import ( diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py index e4fbc73e1d08..dd4012882075 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import UnitreeGo1RoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py index 2864bbba3130..cb3a602394a6 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py index ad8a8aa862f0..349cc450ca9f 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import UnitreeGo2RoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py index ff13b7e86176..a25748da9885 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py index 22648c27a2c5..a7021343464a 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import H1RoughEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py index edb71956a3fc..1b65e018c9e4 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py @@ -6,7 +6,7 @@ from isaaclab_experimental.managers import RewardTermCfg as RewTerm from isaaclab_experimental.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.locomotion.velocity.mdp as mdp from isaaclab_tasks_experimental.manager_based.locomotion.velocity.velocity_env_cfg import ( diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/velocity_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/velocity_env_cfg.py index 7442d3654ba3..52d53c3db268 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/velocity_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/velocity_env_cfg.py @@ -20,8 +20,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import ContactSensorCfg from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks_experimental.manager_based.locomotion.velocity.mdp as mdp diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py index 5b3c7ec0c2f4..d6d36afd15f5 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py @@ -8,7 +8,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.manipulation.reach.mdp as mdp from isaaclab_tasks_experimental.manager_based.manipulation.reach.reach_env_cfg import ReachEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py index 7eddda91f5ac..42104e23b1b2 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py @@ -8,7 +8,7 @@ from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks_experimental.manager_based.manipulation.reach.mdp as mdp from isaaclab_tasks_experimental.manager_based.manipulation.reach.reach_env_cfg import ReachEnvCfg diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/reach_env_cfg.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/reach_env_cfg.py index d019b0531402..e83a27e44db5 100644 --- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/reach_env_cfg.py +++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/manipulation/reach/reach_env_cfg.py @@ -18,7 +18,7 @@ from isaaclab.managers import EventTermCfg as EventTerm from isaaclab.managers import ObservationGroupCfg as ObsGroup from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg as Unoise import isaaclab_tasks_experimental.manager_based.manipulation.reach.mdp as mdp diff --git a/source/isaaclab_teleop/changelog.d/pbarejko-fix-lazy-import.skip b/source/isaaclab_teleop/changelog.d/pbarejko-fix-lazy-import.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py b/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py index a15d09bebb01..877d4c47cf87 100644 --- a/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py +++ b/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py @@ -14,7 +14,7 @@ from isaacteleop.teleop_session_manager import DeadlinePacingConfig, RetargetingExecutionConfig -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .control_events import TELEOP_CONTROL_CHANNEL_UUID from .xr_cfg import XrCfg diff --git a/source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py b/source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py index 7382f8570252..3a9997a3737e 100644 --- a/source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py +++ b/source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py @@ -13,7 +13,7 @@ import numpy as np -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass class XrAnchorRotationMode(enum.Enum): diff --git a/source/isaaclab_teleop/test/test_oxr_device.py b/source/isaaclab_teleop/test/test_oxr_device.py index be2a604a6489..b574dc5d039e 100644 --- a/source/isaaclab_teleop/test/test_oxr_device.py +++ b/source/isaaclab_teleop/test/test_oxr_device.py @@ -30,7 +30,7 @@ from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg from isaaclab.envs import ManagerBasedEnv, ManagerBasedEnvCfg from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass class NoOpRetargeter(RetargeterBase): diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py b/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py index 342be3fc2c6f..068731bbd377 100644 --- a/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py +++ b/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py @@ -7,7 +7,7 @@ from __future__ import annotations -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.visualizers.visualizer_cfg import VisualizerCfg diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py index 711e86e03b31..e52bb273c140 100644 --- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py +++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py @@ -5,7 +5,7 @@ """Configuration for Newton OpenGL Visualizer.""" -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.visualizers.visualizer_cfg import VisualizerCfg diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer_cfg.py b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer_cfg.py index 780b346f802b..dad671bf57f7 100644 --- a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer_cfg.py +++ b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer_cfg.py @@ -7,7 +7,7 @@ from __future__ import annotations -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.visualizers.visualizer_cfg import VisualizerCfg diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer_cfg.py b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer_cfg.py index f3f2aa39b0c2..68ab3116b45a 100644 --- a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer_cfg.py +++ b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer_cfg.py @@ -7,7 +7,7 @@ from __future__ import annotations -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.visualizers.visualizer_cfg import VisualizerCfg diff --git a/tools/template/templates/agents/rsl_rl_ppo_cfg b/tools/template/templates/agents/rsl_rl_ppo_cfg index a29f0ae96833..4e7d73970784 100644 --- a/tools/template/templates/agents/rsl_rl_ppo_cfg +++ b/tools/template/templates/agents/rsl_rl_ppo_cfg @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg diff --git a/tools/template/templates/tasks/direct_multi-agent/env_cfg b/tools/template/templates/tasks/direct_multi-agent/env_cfg index 3b207209b736..82eead89ef31 100644 --- a/tools/template/templates/tasks/direct_multi-agent/env_cfg +++ b/tools/template/templates/tasks/direct_multi-agent/env_cfg @@ -9,7 +9,7 @@ from isaaclab.assets import ArticulationCfg from isaaclab.envs import DirectMARLEnvCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/tools/template/templates/tasks/direct_single-agent/env_cfg b/tools/template/templates/tasks/direct_single-agent/env_cfg index 10588cd3e845..af63e341cdd5 100644 --- a/tools/template/templates/tasks/direct_single-agent/env_cfg +++ b/tools/template/templates/tasks/direct_single-agent/env_cfg @@ -9,7 +9,7 @@ from isaaclab.assets import ArticulationCfg from isaaclab.envs import DirectRLEnvCfg from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/tools/template/templates/tasks/manager-based_single-agent/env_cfg b/tools/template/templates/tasks/manager-based_single-agent/env_cfg index 3ab42ecf166b..ff183ceb0604 100644 --- a/tools/template/templates/tasks/manager-based_single-agent/env_cfg +++ b/tools/template/templates/tasks/manager-based_single-agent/env_cfg @@ -15,7 +15,7 @@ from isaaclab.managers import RewardTermCfg as RewTerm from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import mdp