Fix lazy import for configclass and provide upper bound for python

.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

.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

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

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
 
 

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):

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):

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):

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

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

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):

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",

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

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 = {}
 

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

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

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
 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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
 

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

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
 
 ##

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

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
 
 ##

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,

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