From f8109d704c3850b806c0a0f1acc684e7403b230f Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Thu, 26 Feb 2026 14:26:20 +0100 Subject: [PATCH 1/2] WIP --- scripts/benchmarks/benchmark_load_robot.py | 2 +- scripts/demos/bin_packing.py | 3 ++- scripts/demos/haply_teleoperation.py | 2 +- scripts/demos/multi_asset.py | 3 ++- scripts/demos/pick_and_place.py | 2 +- scripts/demos/sensors/cameras.py | 2 +- scripts/demos/sensors/contact_sensor.py | 2 +- scripts/demos/sensors/frame_transformer_sensor.py | 2 +- scripts/demos/sensors/imu_sensor.py | 2 +- scripts/demos/sensors/multi_mesh_raycaster.py | 2 +- .../demos/sensors/multi_mesh_raycaster_camera.py | 2 +- scripts/demos/sensors/raycaster_sensor.py | 2 +- scripts/demos/sensors/tacsl_sensor.py | 2 +- .../isaaclab_mimic/annotate_demos.py | 2 +- .../isaaclab_mimic/consolidated_demo.py | 2 +- .../locomanipulation_sdg/generate_data.py | 2 +- scripts/tools/check_instanceable.py | 2 +- scripts/tutorials/02_scene/create_scene.py | 2 +- .../tutorials/03_envs/create_cartpole_base_env.py | 2 +- scripts/tutorials/03_envs/create_cube_base_env.py | 2 +- .../tutorials/03_envs/create_quadruped_base_env.py | 2 +- .../tutorials/04_sensors/add_sensors_on_robot.py | 2 +- .../tutorials/04_sensors/run_ray_caster_camera.py | 2 +- scripts/tutorials/04_sensors/run_usd_camera.py | 2 +- scripts/tutorials/05_controllers/run_diff_ik.py | 2 +- scripts/tutorials/05_controllers/run_osc.py | 2 +- .../isaaclab/actuators/actuator_base_cfg.py | 2 +- .../isaaclab/isaaclab/actuators/actuator_net_cfg.py | 2 +- source/isaaclab/isaaclab/actuators/actuator_pd.py | 3 ++- .../isaaclab/isaaclab/actuators/actuator_pd_cfg.py | 2 +- .../assets/articulation/articulation_cfg.py | 2 +- source/isaaclab/isaaclab/assets/asset_base_cfg.py | 2 +- .../assets/rigid_object/rigid_object_cfg.py | 2 +- .../rigid_object_collection_cfg.py | 2 +- source/isaaclab/isaaclab/cloner/cloner_cfg.py | 2 +- .../isaaclab/controllers/differential_ik_cfg.py | 2 +- .../isaaclab/controllers/joint_impedance.py | 2 +- .../isaaclab/controllers/operational_space_cfg.py | 2 +- .../isaaclab/controllers/pink_ik/pink_ik_cfg.py | 2 +- .../isaaclab/isaaclab/controllers/rmp_flow_cfg.py | 2 +- source/isaaclab/isaaclab/envs/common.py | 2 +- .../isaaclab/isaaclab/envs/direct_marl_env_cfg.py | 2 +- source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py | 2 +- .../isaaclab/isaaclab/envs/manager_based_env_cfg.py | 2 +- .../isaaclab/envs/manager_based_rl_env_cfg.py | 2 +- .../isaaclab/envs/mdp/actions/actions_cfg.py | 2 +- .../isaaclab/envs/mdp/actions/pink_actions_cfg.py | 2 +- .../envs/mdp/actions/rmpflow_actions_cfg.py | 2 +- .../isaaclab/envs/mdp/commands/commands_cfg.py | 2 +- .../isaaclab/envs/mdp/recorders/recorders_cfg.py | 2 +- source/isaaclab/isaaclab/envs/mimic_env_cfg.py | 2 +- .../isaaclab/isaaclab/envs/utils/io_descriptors.py | 2 +- source/isaaclab/isaaclab/managers/manager_base.py | 5 +++-- .../isaaclab/isaaclab/managers/manager_term_cfg.py | 2 +- .../isaaclab/managers/observation_manager.py | 3 ++- .../isaaclab/isaaclab/managers/recorder_manager.py | 2 +- .../isaaclab/isaaclab/managers/scene_entity_cfg.py | 2 +- .../isaaclab/physics/physics_manager_cfg.py | 2 +- source/isaaclab/isaaclab/renderers/renderer_cfg.py | 2 +- source/isaaclab/isaaclab/scene/interactive_scene.py | 2 +- .../isaaclab/scene/interactive_scene_cfg.py | 2 +- source/isaaclab/isaaclab/sensors/camera/camera.py | 2 +- .../isaaclab/isaaclab/sensors/camera/camera_cfg.py | 2 +- .../isaaclab/sensors/camera/tiled_camera_cfg.py | 2 +- .../sensors/contact_sensor/contact_sensor_cfg.py | 2 +- .../frame_transformer/frame_transformer_cfg.py | 2 +- source/isaaclab/isaaclab/sensors/imu/imu_cfg.py | 2 +- .../ray_caster/multi_mesh_ray_caster_camera_cfg.py | 2 +- .../sensors/ray_caster/multi_mesh_ray_caster_cfg.py | 2 +- .../sensors/ray_caster/patterns/patterns_cfg.py | 2 +- .../sensors/ray_caster/ray_caster_camera_cfg.py | 2 +- .../isaaclab/sensors/ray_caster/ray_caster_cfg.py | 2 +- source/isaaclab/isaaclab/sensors/sensor_base_cfg.py | 2 +- .../sim/converters/asset_converter_base_cfg.py | 2 +- .../isaaclab/sim/converters/mesh_converter_cfg.py | 2 +- .../isaaclab/sim/converters/mjcf_converter_cfg.py | 2 +- .../isaaclab/sim/converters/urdf_converter_cfg.py | 2 +- source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py | 2 +- source/isaaclab/isaaclab/sim/simulation_cfg.py | 2 +- .../sim/spawners/from_files/from_files_cfg.py | 2 +- .../isaaclab/sim/spawners/lights/lights_cfg.py | 2 +- .../sim/spawners/materials/physics_materials_cfg.py | 2 +- .../sim/spawners/materials/visual_materials_cfg.py | 2 +- .../isaaclab/sim/spawners/meshes/meshes_cfg.py | 2 +- .../isaaclab/sim/spawners/sensors/sensors.py | 2 +- .../isaaclab/sim/spawners/sensors/sensors_cfg.py | 2 +- .../isaaclab/sim/spawners/shapes/shapes_cfg.py | 2 +- .../isaaclab/isaaclab/sim/spawners/spawner_cfg.py | 2 +- .../isaaclab/sim/spawners/wrappers/wrappers_cfg.py | 2 +- .../terrains/height_field/hf_terrains_cfg.py | 2 +- .../isaaclab/isaaclab/terrains/sub_terrain_cfg.py | 2 +- .../isaaclab/terrains/terrain_generator_cfg.py | 2 +- .../isaaclab/terrains/terrain_importer_cfg.py | 2 +- .../isaaclab/terrains/trimesh/mesh_terrains_cfg.py | 2 +- .../isaaclab/ui/widgets/manager_live_visualizer.py | 2 +- source/isaaclab/isaaclab/utils/__init__.py | 13 ------------- source/isaaclab/isaaclab/utils/io/yaml.py | 2 +- .../isaaclab/utils/modifiers/modifier_cfg.py | 2 +- source/isaaclab/isaaclab/utils/noise/noise_cfg.py | 2 +- .../isaaclab/visualizers/kit_visualizer_cfg.py | 2 +- .../isaaclab/visualizers/newton_visualizer_cfg.py | 2 +- .../isaaclab/visualizers/rerun_visualizer_cfg.py | 2 +- .../isaaclab/isaaclab/visualizers/visualizer_cfg.py | 2 +- .../isaaclab/test/app/test_non_headless_launch.py | 2 +- .../check_manager_based_env_anymal_locomotion.py | 2 +- .../envs/check_manager_based_env_floating_cube.py | 2 +- .../isaaclab/test/envs/test_color_randomization.py | 2 +- source/isaaclab/test/envs/test_direct_marl_env.py | 2 +- .../isaaclab/test/envs/test_env_rendering_logic.py | 2 +- source/isaaclab/test/envs/test_manager_based_env.py | 2 +- .../test/envs/test_manager_based_rl_env_ui.py | 2 +- .../test/envs/test_modify_env_param_curr_term.py | 2 +- .../isaaclab/test/envs/test_scale_randomization.py | 2 +- .../test/envs/test_texture_randomization.py | 2 +- source/isaaclab/test/managers/test_event_manager.py | 2 +- .../test/managers/test_observation_manager.py | 3 ++- .../isaaclab/test/managers/test_recorder_manager.py | 2 +- .../isaaclab/test/managers/test_reward_manager.py | 2 +- .../test/markers/check_markers_visibility.py | 2 +- .../isaaclab/test/scene/check_interactive_scene.py | 2 +- .../isaaclab/test/scene/test_interactive_scene.py | 2 +- source/isaaclab/test/sensors/test_camera.py | 2 +- .../sensors/test_multi_mesh_ray_caster_camera.py | 2 +- .../isaaclab/test/sensors/test_ray_caster_camera.py | 2 +- source/isaaclab/test/sensors/test_sensor_base.py | 2 +- source/isaaclab/test/utils/test_circular_buffer.py | 2 +- source/isaaclab/test/utils/test_delay_buffer.py | 2 +- source/isaaclab/test/utils/test_modifiers.py | 2 +- .../visualization/check_scene_xr_visualization.py | 2 +- .../isaaclab_contrib/actuators/thruster_cfg.py | 2 +- .../assets/multirotor/multirotor_cfg.py | 2 +- .../mdp/actions/thrust_actions_cfg.py | 2 +- .../sensors/tacsl_sensor/visuotactile_sensor_cfg.py | 2 +- .../envs/agibot_place_toy2box_mimic_env_cfg.py | 2 +- .../envs/agibot_place_upright_mug_mimic_env_cfg.py | 2 +- .../envs/exhaustpipe_gr1t2_mimic_env_cfg.py | 2 +- .../envs/franka_bin_stack_ik_rel_mimic_env_cfg.py | 2 +- .../envs/franka_stack_ik_abs_mimic_env_cfg.py | 2 +- .../franka_stack_ik_rel_blueprint_mimic_env_cfg.py | 2 +- .../envs/franka_stack_ik_rel_mimic_env_cfg.py | 2 +- .../envs/franka_stack_ik_rel_skillgen_env_cfg.py | 2 +- ..._stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py | 2 +- .../franka_stack_ik_rel_visuomotor_mimic_env_cfg.py | 2 +- .../envs/galbot_stack_rmp_abs_mimic_env_cfg.py | 2 +- .../envs/galbot_stack_rmp_rel_mimic_env_cfg.py | 2 +- .../envs/locomanipulation_g1_mimic_env_cfg.py | 2 +- .../envs/nutpour_gr1t2_mimic_env_cfg.py | 2 +- .../envs/pickplace_gr1t2_mimic_env_cfg.py | 2 +- .../pickplace_gr1t2_waist_enabled_mimic_env_cfg.py | 2 +- .../envs/g1_locomanipulation_sdg_env.py | 2 +- .../envs/locomanipulation_sdg_env_cfg.py | 2 +- .../renderers/newton_warp_renderer_cfg.py | 2 +- .../sensors/contact_sensor/contact_sensor_cfg.py | 2 +- .../deformable_object/deformable_object_cfg.py | 2 +- .../assets/surface_gripper/surface_gripper_cfg.py | 2 +- .../isaaclab_physx/physics/physx_manager_cfg.py | 2 +- .../renderers/isaac_rtx_renderer_cfg.py | 2 +- .../test/sensors/test_contact_sensor.py | 2 +- .../test/sensors/test_frame_transformer.py | 2 +- source/isaaclab_physx/test/sensors/test_imu.py | 2 +- .../isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py | 2 +- .../isaaclab_rl/rsl_rl/distillation_cfg.py | 2 +- source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py | 2 +- source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py | 2 +- .../isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py | 2 +- .../direct/allegro_hand/agents/rsl_rl_ppo_cfg.py | 2 +- .../direct/allegro_hand/allegro_hand_env_cfg.py | 2 +- .../direct/ant/agents/rsl_rl_ppo_cfg.py | 2 +- .../isaaclab_tasks/direct/ant/ant_env_cfg.py | 2 +- .../direct/anymal_c/agents/rsl_rl_ppo_cfg.py | 2 +- .../direct/anymal_c/anymal_c_env_cfg.py | 2 +- .../direct/automate/assembly_env_cfg.py | 2 +- .../direct/automate/assembly_tasks_cfg.py | 2 +- .../direct/automate/disassembly_env_cfg.py | 2 +- .../direct/automate/disassembly_tasks_cfg.py | 2 +- .../cart_double_pendulum_env.py | 2 +- .../cart_double_pendulum_env_cfg.py | 2 +- .../direct/cartpole/agents/rsl_rl_ppo_cfg.py | 2 +- .../direct/cartpole/cartpole_camera_env_cfg.py | 2 +- .../direct/cartpole/cartpole_env_cfg.py | 2 +- .../cartpole_showcase/cartpole/cartpole_env_cfg.py | 2 +- .../cartpole_camera/cartpole_camera_env_cfg.py | 2 +- .../direct/factory/factory_env_cfg.py | 2 +- .../direct/factory/factory_tasks_cfg.py | 2 +- .../isaaclab_tasks/direct/forge/forge_env_cfg.py | 2 +- .../isaaclab_tasks/direct/forge/forge_tasks_cfg.py | 2 +- .../direct/franka_cabinet/agents/rsl_rl_ppo_cfg.py | 2 +- .../direct/franka_cabinet/franka_cabinet_env_cfg.py | 2 +- .../direct/humanoid/agents/rsl_rl_ppo_cfg.py | 2 +- .../direct/humanoid/humanoid_env_cfg.py | 2 +- .../direct/humanoid_amp/humanoid_amp_env_cfg.py | 2 +- .../direct/quadcopter/agents/rsl_rl_ppo_cfg.py | 2 +- .../direct/quadcopter/quadcopter_env_cfg.py | 2 +- .../direct/shadow_hand/agents/rsl_rl_ppo_cfg.py | 2 +- .../direct/shadow_hand/feature_extractor.py | 2 +- .../direct/shadow_hand/shadow_hand_env_cfg.py | 2 +- .../shadow_hand/shadow_hand_vision_env_cfg.py | 2 +- .../shadow_hand_over/shadow_hand_over_env_cfg.py | 2 +- .../classic/ant/agents/rsl_rl_ppo_cfg.py | 2 +- .../manager_based/classic/ant/ant_env_cfg.py | 2 +- .../classic/cartpole/agents/rsl_rl_ppo_cfg.py | 2 +- .../classic/cartpole/cartpole_camera_env_cfg.py | 2 +- .../classic/cartpole/cartpole_env_cfg.py | 2 +- .../classic/humanoid/agents/rsl_rl_ppo_cfg.py | 2 +- .../classic/humanoid/humanoid_env_cfg.py | 2 +- .../drone_arl/mdp/commands/commands_cfg.py | 2 +- .../config/arl_robot_1/agents/rsl_rl_ppo_cfg.py | 2 +- .../config/arl_robot_1/no_obstacle_env_cfg.py | 2 +- .../track_position_state_based_env_cfg.py | 2 +- .../pick_place/configs/action_cfg.py | 2 +- .../configs/agile_locomotion_observation_cfg.py | 2 +- .../fixed_base_upper_body_ik_g1_env_cfg.py | 2 +- .../pick_place/locomanipulation_g1_env_cfg.py | 2 +- .../tracking/config/digit/agents/rsl_rl_ppo_cfg.py | 2 +- .../tracking/config/digit/loco_manip_env_cfg.py | 2 +- .../velocity/config/a1/agents/rsl_rl_ppo_cfg.py | 2 +- .../locomotion/velocity/config/a1/flat_env_cfg.py | 2 +- .../locomotion/velocity/config/a1/rough_env_cfg.py | 2 +- .../config/anymal_b/agents/rsl_rl_ppo_cfg.py | 2 +- .../velocity/config/anymal_b/flat_env_cfg.py | 2 +- .../velocity/config/anymal_b/rough_env_cfg.py | 2 +- .../config/anymal_c/agents/rsl_rl_ppo_cfg.py | 2 +- .../velocity/config/anymal_c/flat_env_cfg.py | 2 +- .../velocity/config/anymal_c/rough_env_cfg.py | 2 +- .../anymal_d/agents/rsl_rl_distillation_cfg.py | 2 +- .../config/anymal_d/agents/rsl_rl_ppo_cfg.py | 2 +- .../velocity/config/anymal_d/flat_env_cfg.py | 2 +- .../velocity/config/anymal_d/rough_env_cfg.py | 2 +- .../velocity/config/cassie/agents/rsl_rl_ppo_cfg.py | 2 +- .../velocity/config/cassie/flat_env_cfg.py | 2 +- .../velocity/config/cassie/rough_env_cfg.py | 2 +- .../velocity/config/digit/agents/rsl_rl_ppo_cfg.py | 2 +- .../velocity/config/digit/flat_env_cfg.py | 2 +- .../velocity/config/digit/rough_env_cfg.py | 2 +- .../velocity/config/g1/agents/rsl_rl_ppo_cfg.py | 2 +- .../locomotion/velocity/config/g1/flat_env_cfg.py | 2 +- .../locomotion/velocity/config/g1/rough_env_cfg.py | 2 +- .../velocity/config/go1/agents/rsl_rl_ppo_cfg.py | 2 +- .../locomotion/velocity/config/go1/flat_env_cfg.py | 2 +- .../locomotion/velocity/config/go1/rough_env_cfg.py | 2 +- .../velocity/config/go2/agents/rsl_rl_ppo_cfg.py | 2 +- .../locomotion/velocity/config/go2/flat_env_cfg.py | 2 +- .../locomotion/velocity/config/go2/rough_env_cfg.py | 2 +- .../velocity/config/h1/agents/rsl_rl_ppo_cfg.py | 2 +- .../locomotion/velocity/config/h1/flat_env_cfg.py | 2 +- .../locomotion/velocity/config/h1/rough_env_cfg.py | 2 +- .../velocity/config/spot/agents/rsl_rl_ppo_cfg.py | 2 +- .../locomotion/velocity/config/spot/flat_env_cfg.py | 2 +- .../locomotion/velocity/velocity_env_cfg.py | 2 +- .../manipulation/cabinet/cabinet_env_cfg.py | 2 +- .../cabinet/config/franka/agents/rsl_rl_ppo_cfg.py | 2 +- .../cabinet/config/franka/ik_abs_env_cfg.py | 2 +- .../cabinet/config/franka/ik_rel_env_cfg.py | 2 +- .../cabinet/config/franka/joint_pos_env_cfg.py | 2 +- .../cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py | 2 +- .../config/openarm/cabinet_openarm_env_cfg.py | 2 +- .../cabinet/config/openarm/joint_pos_env_cfg.py | 2 +- .../config/ur_10e/agents/rsl_rl_ppo_cfg.py | 2 +- .../config/ur_10e/joint_pos_env_cfg.py | 2 +- .../config/ur_10e/ros_inference_env_cfg.py | 2 +- .../deploy/gear_assembly/gear_assembly_env_cfg.py | 2 +- .../manipulation/deploy/mdp/noise_models.py | 2 +- .../reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py | 2 +- .../deploy/reach/config/ur_10e/joint_pos_env_cfg.py | 2 +- .../reach/config/ur_10e/ros_inference_env_cfg.py | 2 +- .../manipulation/deploy/reach/reach_env_cfg.py | 2 +- .../manipulation/dexsuite/adr_curriculum.py | 2 +- .../config/kuka_allegro/agents/rsl_rl_ppo_cfg.py | 2 +- .../kuka_allegro/dexsuite_kuka_allegro_env_cfg.py | 2 +- .../manipulation/dexsuite/dexsuite_env_cfg.py | 2 +- .../dexsuite/mdp/commands/pose_commands_cfg.py | 2 +- .../config/allegro_hand/agents/rsl_rl_ppo_cfg.py | 2 +- .../inhand/config/allegro_hand/allegro_env_cfg.py | 2 +- .../manipulation/inhand/inhand_env_cfg.py | 2 +- .../inhand/mdp/commands/commands_cfg.py | 2 +- .../lift/config/franka/agents/rsl_rl_ppo_cfg.py | 2 +- .../lift/config/franka/ik_abs_env_cfg.py | 2 +- .../lift/config/franka/ik_rel_env_cfg.py | 2 +- .../lift/config/franka/joint_pos_env_cfg.py | 2 +- .../lift/config/openarm/agents/rsl_rl_ppo_cfg.py | 2 +- .../lift/config/openarm/joint_pos_env_cfg.py | 2 +- .../lift/config/openarm/lift_openarm_env_cfg.py | 2 +- .../manager_based/manipulation/lift/lift_env_cfg.py | 2 +- .../pick_place/exhaustpipe_gr1t2_base_env_cfg.py | 2 +- .../pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py | 2 +- .../pick_place/nutpour_gr1t2_base_env_cfg.py | 2 +- .../pick_place/nutpour_gr1t2_pink_ik_env_cfg.py | 2 +- .../pick_place/pickplace_gr1t2_env_cfg.py | 2 +- .../pickplace_gr1t2_waist_enabled_env_cfg.py | 2 +- .../pickplace_unitree_g1_inspire_hand_env_cfg.py | 2 +- .../config/agibot/place_toy2box_rmp_rel_env_cfg.py | 2 +- .../agibot/place_upright_mug_rmp_rel_env_cfg.py | 2 +- .../reach/config/franka/agents/rsl_rl_ppo_cfg.py | 2 +- .../reach/config/franka/ik_abs_env_cfg.py | 2 +- .../reach/config/franka/ik_rel_env_cfg.py | 2 +- .../reach/config/franka/joint_pos_env_cfg.py | 2 +- .../manipulation/reach/config/franka/osc_env_cfg.py | 2 +- .../openarm/bimanual/agents/rsl_rl_ppo_cfg.py | 2 +- .../config/openarm/bimanual/joint_pos_env_cfg.py | 2 +- .../openarm/bimanual/reach_openarm_bi_env_cfg.py | 2 +- .../openarm/unimanual/agents/rsl_rl_ppo_cfg.py | 2 +- .../config/openarm/unimanual/joint_pos_env_cfg.py | 2 +- .../openarm/unimanual/reach_openarm_uni_env_cfg.py | 2 +- .../reach/config/ur_10/agents/rsl_rl_ppo_cfg.py | 2 +- .../reach/config/ur_10/joint_pos_env_cfg.py | 2 +- .../manipulation/reach/reach_env_cfg.py | 2 +- .../stack/config/franka/bin_stack_ik_rel_env_cfg.py | 2 +- .../config/franka/bin_stack_joint_pos_env_cfg.py | 2 +- .../stack/config/franka/stack_ik_abs_env_cfg.py | 2 +- .../config/franka/stack_ik_rel_blueprint_env_cfg.py | 2 +- .../stack/config/franka/stack_ik_rel_env_cfg.py | 2 +- .../config/franka/stack_ik_rel_env_cfg_skillgen.py | 2 +- .../stack_ik_rel_instance_randomize_env_cfg.py | 2 +- .../stack_ik_rel_visuomotor_cosmos_env_cfg.py | 2 +- .../franka/stack_ik_rel_visuomotor_env_cfg.py | 2 +- .../stack/config/franka/stack_joint_pos_env_cfg.py | 2 +- .../stack_joint_pos_instance_randomize_env_cfg.py | 2 +- .../stack/config/galbot/stack_joint_pos_env_cfg.py | 2 +- .../stack/config/galbot/stack_rmp_rel_env_cfg.py | 2 +- .../config/ur10_gripper/stack_ik_rel_env_cfg.py | 2 +- .../config/ur10_gripper/stack_joint_pos_env_cfg.py | 2 +- .../manipulation/stack/stack_env_cfg.py | 2 +- .../stack/stack_instance_randomize_env_cfg.py | 2 +- .../config/anymal_c/agents/rsl_rl_ppo_cfg.py | 2 +- .../config/anymal_c/navigation_env_cfg.py | 2 +- .../navigation/mdp/pre_trained_policy_action_cfg.py | 2 +- source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py | 2 +- source/isaaclab_tasks/test/test_hydra.py | 2 +- .../isaaclab_teleop/isaac_teleop_cfg.py | 2 +- source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py | 2 +- source/isaaclab_teleop/test/test_oxr_device.py | 2 +- 331 files changed, 337 insertions(+), 344 deletions(-) diff --git a/scripts/benchmarks/benchmark_load_robot.py b/scripts/benchmarks/benchmark_load_robot.py index 4d13ca4929d..2f4dc4aa0fa 100644 --- a/scripts/benchmarks/benchmark_load_robot.py +++ b/scripts/benchmarks/benchmark_load_robot.py @@ -64,7 +64,7 @@ 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/demos/bin_packing.py b/scripts/demos/bin_packing.py index ebfcaf96c8b..dee3e1ddac2 100644 --- a/scripts/demos/bin_packing.py +++ b/scripts/demos/bin_packing.py @@ -50,7 +50,8 @@ 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.configclass import configclass +from isaaclab.utils.timer import Timer from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR ## diff --git a/scripts/demos/haply_teleoperation.py b/scripts/demos/haply_teleoperation.py index 6ee741e097b..9ec6dd2cd62 100644 --- a/scripts/demos/haply_teleoperation.py +++ b/scripts/demos/haply_teleoperation.py @@ -66,7 +66,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR 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 5e3b634c4cd..5bcb74f901c 100644 --- a/scripts/demos/multi_asset.py +++ b/scripts/demos/multi_asset.py @@ -54,7 +54,8 @@ 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.configclass import configclass +from isaaclab.utils.timer import Timer from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR ## diff --git a/scripts/demos/pick_and_place.py b/scripts/demos/pick_and_place.py index 8f15b284e7d..40af564fdc9 100644 --- a/scripts/demos/pick_and_place.py +++ b/scripts/demos/pick_and_place.py @@ -44,7 +44,7 @@ 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 b8d2e2b4842..25bf1514f5d 100644 --- a/scripts/demos/sensors/cameras.py +++ b/scripts/demos/sensors/cameras.py @@ -50,7 +50,7 @@ from isaaclab.sensors import CameraCfg, RayCasterCameraCfg, TiledCameraCfg 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 0c03ac6ddbf..849e5ed8337 100644 --- a/scripts/demos/sensors/contact_sensor.py +++ b/scripts/demos/sensors/contact_sensor.py @@ -30,7 +30,7 @@ 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 fb643bf514e..b02bafd6022 100644 --- a/scripts/demos/sensors/frame_transformer_sensor.py +++ b/scripts/demos/sensors/frame_transformer_sensor.py @@ -28,7 +28,7 @@ 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 8870647b27a..e4af2266dd3 100644 --- a/scripts/demos/sensors/imu_sensor.py +++ b/scripts/demos/sensors/imu_sensor.py @@ -30,7 +30,7 @@ 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 3fb5920f7ba..252c09a2b92 100644 --- a/scripts/demos/sensors/multi_mesh_raycaster.py +++ b/scripts/demos/sensors/multi_mesh_raycaster.py @@ -56,7 +56,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR ## diff --git a/scripts/demos/sensors/multi_mesh_raycaster_camera.py b/scripts/demos/sensors/multi_mesh_raycaster_camera.py index 1b438038d1f..01e47913ccf 100644 --- a/scripts/demos/sensors/multi_mesh_raycaster_camera.py +++ b/scripts/demos/sensors/multi_mesh_raycaster_camera.py @@ -56,7 +56,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR ## diff --git a/scripts/demos/sensors/raycaster_sensor.py b/scripts/demos/sensors/raycaster_sensor.py index 66411d6cd93..9ae9f1d344d 100644 --- a/scripts/demos/sensors/raycaster_sensor.py +++ b/scripts/demos/sensors/raycaster_sensor.py @@ -29,7 +29,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR ## diff --git a/scripts/demos/sensors/tacsl_sensor.py b/scripts/demos/sensors/tacsl_sensor.py index ca21fdaabbd..16549fdaf25 100644 --- a/scripts/demos/sensors/tacsl_sensor.py +++ b/scripts/demos/sensors/tacsl_sensor.py @@ -82,7 +82,7 @@ from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import TiledCameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR from isaaclab.utils.timer import Timer diff --git a/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py b/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py index 0b43f5947a7..1767d861b33 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 d180dffd7cc..12bbf86b4cd 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 872b024000e..832f8e2c443 100644 --- a/scripts/imitation_learning/locomanipulation_sdg/generate_data.py +++ b/scripts/imitation_learning/locomanipulation_sdg/generate_data.py @@ -151,7 +151,7 @@ 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/tools/check_instanceable.py b/scripts/tools/check_instanceable.py index d9ce51497d1..346713b3f9e 100644 --- a/scripts/tools/check_instanceable.py +++ b/scripts/tools/check_instanceable.py @@ -68,7 +68,7 @@ import isaaclab.sim as sim_utils from isaaclab.sim import SimulationCfg, SimulationContext -from isaaclab.utils import Timer +from isaaclab.utils.timer import Timer from isaaclab.utils.assets import check_file_path diff --git a/scripts/tutorials/02_scene/create_scene.py b/scripts/tutorials/02_scene/create_scene.py index 8d5a71cee0d..81f27f2699f 100644 --- a/scripts/tutorials/02_scene/create_scene.py +++ b/scripts/tutorials/02_scene/create_scene.py @@ -40,7 +40,7 @@ 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 35c3650e681..ef0105ae636 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 6257a51c9d6..8d7dab4e2a5 100644 --- a/scripts/tutorials/03_envs/create_cube_base_env.py +++ b/scripts/tutorials/03_envs/create_cube_base_env.py @@ -63,7 +63,7 @@ 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 78f5b75ec5f..bf1c3f54f68 100644 --- a/scripts/tutorials/03_envs/create_quadruped_base_env.py +++ b/scripts/tutorials/03_envs/create_quadruped_base_env.py @@ -52,7 +52,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import RayCasterCfg, patterns from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, check_file_path, read_file 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 f3d19736aa9..22d94948ee0 100644 --- a/scripts/tutorials/04_sensors/add_sensors_on_robot.py +++ b/scripts/tutorials/04_sensors/add_sensors_on_robot.py @@ -46,7 +46,7 @@ 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/04_sensors/run_ray_caster_camera.py b/scripts/tutorials/04_sensors/run_ray_caster_camera.py index 375a0cf8f08..4e7e0bdf2be 100644 --- a/scripts/tutorials/04_sensors/run_ray_caster_camera.py +++ b/scripts/tutorials/04_sensors/run_ray_caster_camera.py @@ -43,7 +43,7 @@ import isaaclab.sim as sim_utils from isaaclab.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns -from isaaclab.utils import convert_dict_to_backend +from isaaclab.utils.dict import convert_dict_to_backend from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.math import project_points, unproject_depth diff --git a/scripts/tutorials/04_sensors/run_usd_camera.py b/scripts/tutorials/04_sensors/run_usd_camera.py index c2523695566..74b952eed10 100644 --- a/scripts/tutorials/04_sensors/run_usd_camera.py +++ b/scripts/tutorials/04_sensors/run_usd_camera.py @@ -74,7 +74,7 @@ from isaaclab.markers.config import RAY_CASTER_MARKER_CFG from isaaclab.sensors.camera import Camera, CameraCfg from isaaclab.sensors.camera.utils import create_pointcloud_from_depth -from isaaclab.utils import convert_dict_to_backend +from isaaclab.utils.dict import convert_dict_to_backend def define_sensor() -> Camera: diff --git a/scripts/tutorials/05_controllers/run_diff_ik.py b/scripts/tutorials/05_controllers/run_diff_ik.py index 58071b0e6af..d48b1cb7a55 100644 --- a/scripts/tutorials/05_controllers/run_diff_ik.py +++ b/scripts/tutorials/05_controllers/run_diff_ik.py @@ -48,7 +48,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR 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 f0ad2221cd1..c8cfdbd765e 100644 --- a/scripts/tutorials/05_controllers/run_osc.py +++ b/scripts/tutorials/05_controllers/run_osc.py @@ -47,7 +47,7 @@ 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/isaaclab/actuators/actuator_base_cfg.py b/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py index 99277f9d613..8afa1807754 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 eecfe8050ab..1bae377598d 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 Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import actuator_net from .actuator_pd_cfg import DCMotorCfg diff --git a/source/isaaclab/isaaclab/actuators/actuator_pd.py b/source/isaaclab/isaaclab/actuators/actuator_pd.py index ff014fa7a58..7e791ee21a5 100644 --- a/source/isaaclab/isaaclab/actuators/actuator_pd.py +++ b/source/isaaclab/isaaclab/actuators/actuator_pd.py @@ -11,7 +11,8 @@ import torch -from isaaclab.utils import DelayBuffer, LinearInterpolation +from isaaclab.utils.buffers import DelayBuffer +from isaaclab.utils.interpolation import LinearInterpolation from isaaclab.utils.types import ArticulationActions from .actuator_base import ActuatorBase diff --git a/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py b/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py index d1f5a6282ad..4b428317095 100644 --- a/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py +++ b/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import actuator_pd 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 f8c558302d3..93455e7c020 100644 --- a/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py +++ b/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py @@ -8,7 +8,7 @@ from dataclasses import MISSING from isaaclab.actuators import ActuatorBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..asset_base_cfg import AssetBaseCfg from .articulation import Articulation diff --git a/source/isaaclab/isaaclab/assets/asset_base_cfg.py b/source/isaaclab/isaaclab/assets/asset_base_cfg.py index cb24b8f632d..12fca86d3f3 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 from .asset_base import AssetBase 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 8340aa45f76..93573b10914 100644 --- a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py +++ b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from ..asset_base_cfg import AssetBaseCfg from .rigid_object import RigidObject 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 c99b20044dd..543ed5bbbdb 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 @@ -6,7 +6,7 @@ from dataclasses import MISSING from isaaclab.assets.rigid_object import RigidObjectCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass 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 d5e21e0dd85..18e3ef113c7 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 ce30b131ba7..e71a2223e78 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 Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .differential_ik import DifferentialIKController diff --git a/source/isaaclab/isaaclab/controllers/joint_impedance.py b/source/isaaclab/isaaclab/controllers/joint_impedance.py index 5baca32385d..6804c446a2d 100644 --- a/source/isaaclab/isaaclab/controllers/joint_impedance.py +++ b/source/isaaclab/isaaclab/controllers/joint_impedance.py @@ -10,7 +10,7 @@ import torch -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 5572ae43925..df6fcfa9bce 100644 --- a/source/isaaclab/isaaclab/controllers/operational_space_cfg.py +++ b/source/isaaclab/isaaclab/controllers/operational_space_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 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 3eb9fa6c575..16d0f74a27b 100644 --- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py +++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py @@ -11,7 +11,7 @@ from pink.tasks import FrameTask -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 e94e94f2377..a55954e6aaf 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/envs/common.py b/source/isaaclab/isaaclab/envs/common.py index f913005d1db..a1949bde965 100644 --- a/source/isaaclab/isaaclab/envs/common.py +++ b/source/isaaclab/isaaclab/envs/common.py @@ -10,7 +10,7 @@ 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 684f786ba34..98929742e61 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 594e066c38b..334494388cc 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 32a512aa6b4..318f4cd5ee1 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 .ui import BaseEnvWindow 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 7fe29ed7003..103ea46f851 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 from .ui import ManagerBasedRLEnvWindow diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py index bb664445169..ad972eb49d6 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py @@ -9,7 +9,7 @@ from isaaclab.controllers import DifferentialIKControllerCfg, OperationalSpaceControllerCfg from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import ( binary_joint_actions, 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 a82433be84c..22781476a2a 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py @@ -7,7 +7,7 @@ from isaaclab.controllers.pink_ik import PinkIKControllerCfg from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import pink_task_space_actions 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 6bc16f15513..2a480df4f06 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py @@ -9,7 +9,7 @@ from isaaclab.controllers.rmp_flow import RmpFlowControllerCfg from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import rmpflow_task_space_actions diff --git a/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py b/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py index 390980f3454..8df2d30ed18 100644 --- a/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py @@ -9,7 +9,7 @@ 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 from .null_command import NullCommand from .pose_2d_command import TerrainBasedPose2dCommand, UniformPose2dCommand diff --git a/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py b/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py index d67350d7f20..df2620357d8 100644 --- a/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause from isaaclab.managers.recorder_manager import RecorderManagerBaseCfg, RecorderTerm, RecorderTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import recorders diff --git a/source/isaaclab/isaaclab/envs/mimic_env_cfg.py b/source/isaaclab/isaaclab/envs/mimic_env_cfg.py index a98c34bf5f9..e9760fdd127 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 ccf1feb43ec..f0af18a946e 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/managers/manager_base.py b/source/isaaclab/isaaclab/managers/manager_base.py index 54fbfb15a5f..7e10e1aefef 100644 --- a/source/isaaclab/isaaclab/managers/manager_base.py +++ b/source/isaaclab/isaaclab/managers/manager_base.py @@ -14,7 +14,8 @@ from typing import TYPE_CHECKING, Any import isaaclab.utils.string as string_utils -from isaaclab.utils import class_to_dict, string_to_callable +from isaaclab.utils.dict import class_to_dict +from isaaclab.utils.string import string_to_callable from .manager_term_cfg import ManagerTermBaseCfg from .scene_entity_cfg import SceneEntityCfg @@ -40,7 +41,7 @@ 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 de7c23aa220..2b09fb5b2ed 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/observation_manager.py b/source/isaaclab/isaaclab/managers/observation_manager.py index a1bde0266f4..61d93b3afe2 100644 --- a/source/isaaclab/isaaclab/managers/observation_manager.py +++ b/source/isaaclab/isaaclab/managers/observation_manager.py @@ -15,7 +15,8 @@ import torch from prettytable import PrettyTable -from isaaclab.utils import class_to_dict, modifiers, noise +from isaaclab.utils import modifiers, noise +from isaaclab.utils.dict import class_to_dict from isaaclab.utils.buffers import CircularBuffer from .manager_base import ManagerBase, ManagerTermBase diff --git a/source/isaaclab/isaaclab/managers/recorder_manager.py b/source/isaaclab/isaaclab/managers/recorder_manager.py index cc95d238156..66d7619d79f 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 2fe118c2da2..40250ceeb4d 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/physics/physics_manager_cfg.py b/source/isaaclab/isaaclab/physics/physics_manager_cfg.py index d4cda2cc5e1..42d2fb466a9 100644 --- a/source/isaaclab/isaaclab/physics/physics_manager_cfg.py +++ b/source/isaaclab/isaaclab/physics/physics_manager_cfg.py @@ -15,7 +15,7 @@ from dataclasses import MISSING from typing import TYPE_CHECKING, Any -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass if TYPE_CHECKING: from .physics_manager import PhysicsManager diff --git a/source/isaaclab/isaaclab/renderers/renderer_cfg.py b/source/isaaclab/isaaclab/renderers/renderer_cfg.py index 334fa3f070a..276add3a072 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 e787b64790b..c192a114e3d 100644 --- a/source/isaaclab/isaaclab/scene/interactive_scene.py +++ b/source/isaaclab/isaaclab/scene/interactive_scene.py @@ -73,7 +73,7 @@ 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 f4328324152..03430701721 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.py b/source/isaaclab/isaaclab/sensors/camera/camera.py index a4da161628e..cdafb01c2d7 100644 --- a/source/isaaclab/isaaclab/sensors/camera/camera.py +++ b/source/isaaclab/isaaclab/sensors/camera/camera.py @@ -21,7 +21,7 @@ import isaaclab.utils.sensors as sensor_utils from isaaclab.app.settings_manager import get_settings_manager from isaaclab.sim.views import XformPrimView -from isaaclab.utils import to_camel_case +from isaaclab.utils.string import to_camel_case from isaaclab.utils.array import convert_to_torch from isaaclab.utils.math import ( convert_camera_frame_orientation_convention, diff --git a/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py b/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py index 49e1c5a8ddd..3f38b51f779 100644 --- a/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py @@ -12,7 +12,7 @@ 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 from .camera import Camera diff --git a/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py b/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py index 2241a0648fd..b83232bab4a 100644 --- a/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .camera_cfg import CameraCfg from .tiled_camera import TiledCamera 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 f1336eb325d..311d6b0c91d 100644 --- a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py +++ b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py @@ -5,7 +5,7 @@ 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 from .contact_sensor import ContactSensor 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 389f22c505c..2d15aee88bc 100644 --- a/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py +++ b/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py @@ -8,7 +8,7 @@ from dataclasses import MISSING 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 from .frame_transformer import FrameTransformer diff --git a/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py b/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py index 46c0e68cbc7..1bbcc12493c 100644 --- a/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py +++ b/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py @@ -7,7 +7,7 @@ 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 from .imu import Imu 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 45df51ce6d8..91c762f67a6 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 @@ -7,7 +7,7 @@ import logging -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .multi_mesh_ray_caster_camera import MultiMeshRayCasterCamera from .multi_mesh_ray_caster_cfg import MultiMeshRayCasterCfg 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 f5393920162..162e2629d8e 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 @@ -8,7 +8,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .multi_mesh_ray_caster import MultiMeshRayCaster 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 aa946ffac7b..71582913c6f 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 d8e43381708..fd4467cb319 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 Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .patterns import PinholeCameraPatternCfg from .ray_caster_camera import RayCasterCamera 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 23981b98ee9..f12602dccda 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py @@ -12,7 +12,7 @@ from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import RAY_CASTER_MARKER_CFG -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 9631f64d266..eb078c60fe2 100644 --- a/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py +++ b/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py @@ -5,7 +5,7 @@ from dataclasses import MISSING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass 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 3ba2a27c18c..706927fd350 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 767f6dd0458..cb14bbbe51b 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 fc0574c77f3..2a3b5ddecd8 100644 --- a/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py +++ b/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause 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 6315815b769..d91d55bc52d 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 df2569c5771..e41076932d5 100644 --- a/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py +++ b/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py @@ -7,7 +7,7 @@ from typing import Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/simulation_cfg.py b/source/isaaclab/isaaclab/sim/simulation_cfg.py index df531f82efb..9ff65c78d15 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 ad9f5585904..fcf36d768d7 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 @@ -11,7 +11,7 @@ from isaaclab.sim import converters, schemas from isaaclab.sim.spawners import materials from isaaclab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg, SpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from . import from_files diff --git a/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py b/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py index 4768ffcba57..12ffef0fa18 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 from . import lights 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 be63a9dd4a4..b82480ee4ab 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 Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import physics_materials 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 09e022c95cb..0f538e4bf67 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 from . import visual_materials diff --git a/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py b/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py index d5c39a505b8..73fea42c353 100644 --- a/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py @@ -11,7 +11,7 @@ from isaaclab.sim.spawners import materials from isaaclab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import meshes diff --git a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py index 4eb70005e48..8a3e59bddc2 100644 --- a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py +++ b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py @@ -11,7 +11,7 @@ from pxr import Sdf, Usd from isaaclab.sim.utils import change_prim_property, clone, create_prim, get_current_stage -from isaaclab.utils import to_camel_case +from isaaclab.utils.string import to_camel_case if TYPE_CHECKING: from . import sensors_cfg diff --git a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py index 44e5eb06173..c7d675ae255 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 from . import sensors diff --git a/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py b/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py index 921b1ede29c..f3b0a9157c4 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 from . import shapes diff --git a/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py b/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py index d4ef0da9b60..e100ef8ff27 100644 --- a/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py @@ -11,7 +11,7 @@ from pxr import Usd from isaaclab.sim import schemas -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass @configclass diff --git a/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py b/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py index f3d7b7986ec..542499deb11 100644 --- a/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py +++ b/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py @@ -7,7 +7,7 @@ from isaaclab.sim.spawners.from_files import UsdFileCfg from isaaclab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg, SpawnerCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import wrappers 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 df1d6dcc21a..cf78d52a23c 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 from . import hf_terrains diff --git a/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py b/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py index 5167afd5eb6..6532b6e411b 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 6a3238c7cb4..c230b4e0747 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 Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .sub_terrain_cfg import SubTerrainBaseCfg from .terrain_generator import TerrainGenerator diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py index 7b42e06caaf..5c4890d3bb5 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 from .terrain_importer import TerrainImporter diff --git a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py index 4247e21486b..249e224dfdb 100644 --- a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py +++ b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py @@ -9,7 +9,7 @@ import isaaclab.terrains.trimesh.mesh_terrains as mesh_terrains import isaaclab.terrains.trimesh.utils as mesh_utils_terrains -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 0b20b10dabc..6c3363c0c7a 100644 --- a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py +++ b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py @@ -16,7 +16,7 @@ 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/__init__.py b/source/isaaclab/isaaclab/utils/__init__.py index 1295715857f..9a612885174 100644 --- a/source/isaaclab/isaaclab/utils/__init__.py +++ b/source/isaaclab/isaaclab/utils/__init__.py @@ -4,16 +4,3 @@ # SPDX-License-Identifier: BSD-3-Clause """Sub-package containing utilities for common operations and helper functions.""" - -from .array import * -from .buffers import * -from .configclass import configclass -from .dict import * -from .interpolation import * -from .logger import * -from .mesh import * -from .modifiers import * -from .string import * -from .timer import Timer -from .types import * -from .version import * diff --git a/source/isaaclab/isaaclab/utils/io/yaml.py b/source/isaaclab/isaaclab/utils/io/yaml.py index 0f2dbeeefb9..4193ead3390 100644 --- a/source/isaaclab/isaaclab/utils/io/yaml.py +++ b/source/isaaclab/isaaclab/utils/io/yaml.py @@ -9,7 +9,7 @@ import yaml -from isaaclab.utils import class_to_dict +from isaaclab.utils.dict import class_to_dict def load_yaml(filename: str) -> dict: diff --git a/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py b/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py index cf018fc0716..b0e6a84defb 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 b3275643fd2..d995c2cb8ac 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 from . import noise_model diff --git a/source/isaaclab/isaaclab/visualizers/kit_visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/kit_visualizer_cfg.py index 230242eed77..c43b20848a3 100644 --- a/source/isaaclab/isaaclab/visualizers/kit_visualizer_cfg.py +++ b/source/isaaclab/isaaclab/visualizers/kit_visualizer_cfg.py @@ -5,7 +5,7 @@ """Configuration for Kit-based visualizer.""" -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .visualizer_cfg import VisualizerCfg diff --git a/source/isaaclab/isaaclab/visualizers/newton_visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/newton_visualizer_cfg.py index 0d0439843b7..107c5a34216 100644 --- a/source/isaaclab/isaaclab/visualizers/newton_visualizer_cfg.py +++ b/source/isaaclab/isaaclab/visualizers/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 .visualizer_cfg import VisualizerCfg diff --git a/source/isaaclab/isaaclab/visualizers/rerun_visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/rerun_visualizer_cfg.py index 7c9fbb6a909..65f48b9e5b9 100644 --- a/source/isaaclab/isaaclab/visualizers/rerun_visualizer_cfg.py +++ b/source/isaaclab/isaaclab/visualizers/rerun_visualizer_cfg.py @@ -7,7 +7,7 @@ from __future__ import annotations -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .visualizer_cfg import VisualizerCfg diff --git a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py index 17afda08a29..e3010e47729 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 .visualizer import Visualizer diff --git a/source/isaaclab/test/app/test_non_headless_launch.py b/source/isaaclab/test/app/test_non_headless_launch.py index 8fc8a051ae3..5c7b5bad24c 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/envs/check_manager_based_env_anymal_locomotion.py b/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py index c6169c94d19..69d03474b7c 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 @@ -46,7 +46,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import RayCasterCfg, patterns from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR, check_file_path, read_file from isaaclab.utils.noise import AdditiveUniformNoiseCfg 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 06123ad07a6..30134f6b999 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 @@ -44,7 +44,7 @@ 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 a7edda7036c..5f03ff97085 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 981ebd72203..7454f21c876 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 751717ac26a..e332eda6728 100644 --- a/source/isaaclab/test/envs/test_env_rendering_logic.py +++ b/source/isaaclab/test/envs/test_env_rendering_logic.py @@ -28,7 +28,7 @@ ) from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg, SimulationContext -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.visualizers.kit_visualizer import KitVisualizer from isaaclab.visualizers.kit_visualizer_cfg import KitVisualizerCfg diff --git a/source/isaaclab/test/envs/test_manager_based_env.py b/source/isaaclab/test/envs/test_manager_based_env.py index 153129a3926..aede8915b58 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 b2db866a575..bd82bbde6b2 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 9f58cbabc5b..a56a3739596 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 @@ -19,7 +19,7 @@ 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 e3614e260a1..7d7ffc9b1af 100644 --- a/source/isaaclab/test/envs/test_scale_randomization.py +++ b/source/isaaclab/test/envs/test_scale_randomization.py @@ -36,7 +36,7 @@ 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 b5fe287c48c..597ecffbf99 100644 --- a/source/isaaclab/test/envs/test_texture_randomization.py +++ b/source/isaaclab/test/envs/test_texture_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.assets import NVIDIA_NUCLEUS_DIR 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 171cc8be65e..474ef7c9074 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 86e77c571a4..196a14beb62 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 f85a1a191da..443fe50fb64 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 8301fac5b50..92554292e6f 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 98dbee8ddcd..308f790b9d8 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 5b2463b315a..7068901ac84 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 60e61790d41..c9efd9bc542 100644 --- a/source/isaaclab/test/scene/test_interactive_scene.py +++ b/source/isaaclab/test/scene/test_interactive_scene.py @@ -21,7 +21,7 @@ from isaaclab.assets import ArticulationCfg, RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import build_simulation_context -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR diff --git a/source/isaaclab/test/sensors/test_camera.py b/source/isaaclab/test/sensors/test_camera.py index c9e60d05f30..78bfa1be56a 100644 --- a/source/isaaclab/test/sensors/test_camera.py +++ b/source/isaaclab/test/sensors/test_camera.py @@ -29,7 +29,7 @@ import isaaclab.sim as sim_utils from isaaclab.sensors.camera import Camera, CameraCfg -from isaaclab.utils import convert_dict_to_backend +from isaaclab.utils.dict import convert_dict_to_backend from isaaclab.utils.timer import Timer # sample camera poses diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py index 688e20086ff..522e09a18a7 100644 --- a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py @@ -31,7 +31,7 @@ from isaaclab.sim import PinholeCameraCfg from isaaclab.terrains.trimesh.utils import make_plane from isaaclab.terrains.utils import create_prim_from_mesh -from isaaclab.utils import convert_dict_to_backend +from isaaclab.utils.dict import convert_dict_to_backend from isaaclab.utils.timer import Timer # sample camera poses (quaternions in xyzw format) diff --git a/source/isaaclab/test/sensors/test_ray_caster_camera.py b/source/isaaclab/test/sensors/test_ray_caster_camera.py index 80fa4d03a1e..cc3740fc05d 100644 --- a/source/isaaclab/test/sensors/test_ray_caster_camera.py +++ b/source/isaaclab/test/sensors/test_ray_caster_camera.py @@ -31,7 +31,7 @@ from isaaclab.sim import PinholeCameraCfg from isaaclab.terrains.trimesh.utils import make_plane from isaaclab.terrains.utils import create_prim_from_mesh -from isaaclab.utils import convert_dict_to_backend +from isaaclab.utils.dict import convert_dict_to_backend from isaaclab.utils.timer import Timer # sample camera poses diff --git a/source/isaaclab/test/sensors/test_sensor_base.py b/source/isaaclab/test/sensors/test_sensor_base.py index 34a865ff96f..3d8d6af9090 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_circular_buffer.py b/source/isaaclab/test/utils/test_circular_buffer.py index 7517aca468c..3782bcdf41a 100644 --- a/source/isaaclab/test/utils/test_circular_buffer.py +++ b/source/isaaclab/test/utils/test_circular_buffer.py @@ -15,7 +15,7 @@ import pytest import torch -from isaaclab.utils import CircularBuffer +from isaaclab.utils.buffers import CircularBuffer @pytest.fixture diff --git a/source/isaaclab/test/utils/test_delay_buffer.py b/source/isaaclab/test/utils/test_delay_buffer.py index a66802e7297..2c21d2a1dc6 100644 --- a/source/isaaclab/test/utils/test_delay_buffer.py +++ b/source/isaaclab/test/utils/test_delay_buffer.py @@ -17,7 +17,7 @@ import pytest import torch -from isaaclab.utils import DelayBuffer +from isaaclab.utils.buffers import DelayBuffer @pytest.fixture diff --git a/source/isaaclab/test/utils/test_modifiers.py b/source/isaaclab/test/utils/test_modifiers.py index 9cdd9a5d663..d0177125605 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 b03fa9e88bd..0ecded8048a 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/isaaclab_contrib/actuators/thruster_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py index 29072f421ab..16ca640eead 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 Literal -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass 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 9638fcf2aa6..36130e90ca2 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py @@ -7,7 +7,7 @@ from dataclasses import MISSING 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/mdp/actions/thrust_actions_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py index 0f457fe4a5a..cee8dbed15f 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 @@ -6,7 +6,7 @@ from dataclasses import MISSING from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from . import thrust_actions 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 5aaf9cd6731..56f332af960 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 @@ -12,7 +12,7 @@ from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import VISUO_TACTILE_SENSOR_MARKER_CFG from isaaclab.sensors import SensorBaseCfg, TiledCameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR from .visuotactile_sensor import VisuoTactileSensor 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 76557802f46..49de09cca49 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 2bfadef874c..f1398d2f98d 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 ed37975c6af..289ba14eba7 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 ca28719d730..59401823be7 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 93e51d8f673..d8d9564a98b 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 cd75bea018a..b2057eb30b6 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 8f7d6af8df7..c874c504d86 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 9d26039126b..377aee477e7 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 2f2ebe5ab33..76e34c17db6 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 816d85f611c..a7937383316 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 d3de8a9aa3d..8674e28d8f0 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 ce4d00015a3..812df7337c0 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 2aa766dec33..92b89babad6 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 683d4be09e4..ee72870c61a 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 0297fb72a1b..724e1a05d8d 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 f9528b277db..26299d03d52 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 4f5e8c29d34..df30a6921b0 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 @@ -13,7 +13,7 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import CameraCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path from isaaclab.utils.datasets import EpisodeData 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 f3c5dd6c47c..e9fc2c215fb 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 RecorderTerm, RecorderTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .locomanipulation_sdg_env import LocomanipulationSDGOutputDataRecorder 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 742f4df16e1..3189849a7e5 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 c276b6ce9d7..a8de679d738 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 @@ -6,7 +6,7 @@ import warnings from isaaclab.sensors.contact_sensor.contact_sensor_cfg import ContactSensorCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .contact_sensor import ContactSensor 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 280577baefb..e6dbbd4d2e8 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 @@ -8,7 +8,7 @@ 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 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 a6e3bdb2ebb..9152387d58b 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 @@ -6,7 +6,7 @@ from dataclasses import MISSING from isaaclab.assets.asset_base_cfg import AssetBaseCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass 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 d30252c7877..01c0904240e 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 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 e36cca4e53b..028b27cbdec 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 @@ -6,7 +6,7 @@ """Configuration for Isaac RTX (Replicator) 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_physx/test/sensors/test_contact_sensor.py b/source/isaaclab_physx/test/sensors/test_contact_sensor.py index f5344c10d46..e5f9037dfd5 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 150e0c47faf..6835736e433 100644 --- a/source/isaaclab_physx/test/sensors/test_frame_transformer.py +++ b/source/isaaclab_physx/test/sensors/test_frame_transformer.py @@ -25,7 +25,7 @@ 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 b8c971f94df..d70a7c0a373 100644 --- a/source/isaaclab_physx/test/sensors/test_imu.py +++ b/source/isaaclab_physx/test/sensors/test_imu.py @@ -28,7 +28,7 @@ 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_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py b/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py index b494dd1fdef..095472eeba4 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 1a631eeffda..bf6db760c8c 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 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 7be991174de..ce8e214362f 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 0cc698dc881..8aaf77cfbd9 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 8f60c743068..eed74fbf222 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/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 871250fd0b1..8c3ba1db121 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 6758af9ab37..c1fc19e1b73 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 @@ -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 isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG 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 00eefc843e2..8f10a12ab66 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 1078e817755..1b412aa81f5 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 @@ -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.robots.ant import ANT_CFG 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 117ad6e75be..54f9ce07848 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 f5e12b59912..4d708ffb320 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 @@ -13,7 +13,7 @@ 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 7fae88707c5..a8dae7034eb 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 fcc965276c4..a950fd7930b 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 @@ -5,7 +5,7 @@ import isaaclab.sim as sim_utils from isaaclab.assets import ArticulationCfg, RigidObjectCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR 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 a2b7fbe4913..c5c197393b6 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 1c303787303..fc33d4cd9d4 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 @@ -5,7 +5,7 @@ import isaaclab.sim as sim_utils from isaaclab.assets import ArticulationCfg, RigidObjectCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR 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 cd3fca73195..eef47422754 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 @@ -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.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 048750158cd..538e2e4cd55 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 097b7b43a67..3d2cff4a1a4 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 2a3b7045186..d80321ccd01 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 TiledCameraCfg from isaaclab.sim import SimulationCfg -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/isaaclab_tasks/direct/cartpole/cartpole_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env_cfg.py index d1c31d13d87..708b4ff9b02 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 @@ -9,7 +9,7 @@ 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.robots.cartpole import CARTPOLE_CFG 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 9384305a07e..2ff10fa8f8a 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 0625bb2a172..33af4cd7ebe 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 TiledCameraCfg -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 028184ff7ba..a250380e256 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 24b35617bce..c421f6ffcd7 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 @@ -5,7 +5,7 @@ import isaaclab.sim as sim_utils from isaaclab.assets import ArticulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR 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 5da73aa2ae3..42479321774 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 1529543e188..ed1a1fea327 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 a2304fb2c4b..1606afc32fc 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 fcb127b31f1..dacc2dacf82 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 @@ -12,7 +12,7 @@ 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.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR 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 778d73f0911..67683ad1897 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 5c99f69f5f6..c72d5d50806 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 @@ -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 HUMANOID_CFG 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 324717dd6c1..9901d45454f 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 607d9f0fb0e..b77b51e2a18 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 f8e32f9fcc9..54d70b5664b 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 @@ -12,7 +12,7 @@ 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 6ab4c9e56f5..9cc359fba57 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 75a7b6d04a2..bb906599517 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 class FeatureExtractorNetwork(nn.Module): 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 1f9b01eb6c7..3513b8766e6 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 @@ -15,7 +15,7 @@ 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.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.noise import GaussianNoiseCfg, NoiseModelWithAdditiveBiasCfg 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 b5536577285..2a1cbd4679a 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 TiledCameraCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .feature_extractor import FeatureExtractorCfg from .shadow_hand_env_cfg import ShadowHandEnvCfg 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 1c87da65ce8..9e578616184 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 @@ -15,7 +15,7 @@ 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_assets.robots.shadow_hand import SHADOW_HAND_CFG 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 98646173366..55dfd67b7b7 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 2d9d83705fd..bccada0f24d 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 @@ -16,7 +16,7 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg 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 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 2a266a098df..33a80e333f4 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 dfccd3d3689..0bd2d87035a 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 TiledCameraCfg -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 788920af058..b83a765cbe9 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 @@ -15,7 +15,7 @@ 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 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 f2c7f48e455..d88f2c4425d 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 3b536e4c333..19d108201f3 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 @@ -16,7 +16,7 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg 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 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 f12cf1be082..93de1b65d3a 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 @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause from isaaclab.envs.mdp.commands.commands_cfg import UniformPoseCommandCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .drone_pose_command import DroneUniformPoseCommand 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 b53c53dbdd0..cde79a4f941 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 92a11d82442..f5e45096f9a 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 2e00a9d8985..b9471db32ac 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 @@ -18,7 +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 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise 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 b195334ba68..d9e337f11cc 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 @@ -6,7 +6,7 @@ from dataclasses import MISSING from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass 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 6fd0b6dbdf9..a3d811313bd 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 e225660e8e8..426c3e38ad6 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 @@ -25,7 +25,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path from isaaclab_tasks.manager_based.locomanipulation.pick_place import mdp as locomanip_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 552c4d7d942..2c8079cb6b9 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 @@ -24,7 +24,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path from isaaclab_tasks.manager_based.locomanipulation.pick_place import mdp as locomanip_mdp 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 c98c2030a2c..5eedf1fa980 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 a91ff0907dc..77d3349bc70 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 AdditiveUniformNoiseCfg 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 972ebf93736..9f2850b8449 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 eb239d36377..1d6251a3e19 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 @@ -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 UnitreeA1RoughEnvCfg 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 371ccb5b0cd..604685af81e 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 @@ -3,7 +3,7 @@ # # 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 f6d0c585dd1..c2563084be8 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 134fd0154bf..08a9e80be01 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 @@ -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 AnymalBRoughEnvCfg 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 dd11ad85847..d7456df0633 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 @@ -3,7 +3,7 @@ # # 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 45f434fe7f0..7bb91507925 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 76ccb79b48a..508ccca4b77 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 @@ -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 AnymalCRoughEnvCfg 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 ed62e06fc94..356e822e27d 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 @@ -3,7 +3,7 @@ # # 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_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 ea3d5f521ac..ad93fb1c9ee 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 220efdd6e8c..2476f074cae 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, RslRlSymmetryCfg 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 7abab44fdb9..e076276fea1 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 @@ -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 AnymalDRoughEnvCfg 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 c672dcacc0c..95d4bbe34b6 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 @@ -3,7 +3,7 @@ # # 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 93cce1bb929..4e161982d88 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 5ca23455cd0..baf48d4e3bb 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 @@ -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 CassieRoughEnvCfg 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 2a13f35213c..2472841204a 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 @@ -5,7 +5,7 @@ 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 LocomotionVelocityRoughEnvCfg, RewardsCfg 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 72eb4a2aa3f..2026c08b495 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 48a647e17a6..fd7d12b969a 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 792e6f63947..220730793a3 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 @@ -6,7 +6,7 @@ import math 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 AdditiveUniformNoiseCfg 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 61a6d0261b9..2794e00dbe1 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 e8d3b5edc45..639a0ce5a76 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 @@ -4,7 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause from isaaclab.managers import SceneEntityCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from .rough_env_cfg import G1RoughEnvCfg 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 04971c3d9f2..659a087c774 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 @@ -5,7 +5,7 @@ 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 LocomotionVelocityRoughEnvCfg, RewardsCfg 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 9baa2b371ea..c17912e5443 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 760c1f5f5d0..34c01df8b32 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 @@ -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 UnitreeGo1RoughEnvCfg 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 91efcc17024..9fd4811c32b 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 @@ -3,7 +3,7 @@ # # 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/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 9777785f7e3..0d6567539ac 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 8bf8bb1373f..872394bef18 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 @@ -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 UnitreeGo2RoughEnvCfg 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 69e6adddd04..a16c5ef5985 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 @@ -3,7 +3,7 @@ # # 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/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 10235977086..44a410017ba 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 e9b9e2a1fa2..86a9cec64c6 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 @@ -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 H1RoughEnvCfg 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 799a7b95cc4..588cd3cde73 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 @@ -5,7 +5,7 @@ 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 LocomotionVelocityRoughEnvCfg, RewardsCfg 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 3985f6b3b49..d4e36d670ce 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 6bf334e2453..20808b55aba 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 @@ -12,7 +12,7 @@ from isaaclab.managers import RewardTermCfg, SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise 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 63cb6f086f9..faf89529014 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 @@ -21,7 +21,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import ContactSensorCfg, RayCasterCfg, patterns from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise 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 afad7a23e3c..6f855bf8acb 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 @@ -21,7 +21,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from . import mdp 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 0ccb4787cdd..7dd75509e2b 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 2f47f323958..3be27e7b532 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 aaaa644ce1c..83a25d05db8 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 04624c0e638..4ea654a28f5 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 67f3498c361..e01778853c8 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 8adcddcb8b0..f82a2d8eb69 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 @@ -25,7 +25,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR ## 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 05d03942700..e9bda871aca 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/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 ac1ecba8463..c9aba7bab7c 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticRecurrentCfg, RslRlPpoAlgorithmCfg 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 3cb8eeae956..78b885cbb26 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 cdce8136469..cc18759d33d 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 6a3fc7f080f..7440d493dc8 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 @@ -20,7 +20,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.noise import UniformNoiseCfg 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 2d5411e9697..45d8949e9cf 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 @@ -15,7 +15,7 @@ import torch -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import NoiseModel, NoiseModelCfg if TYPE_CHECKING: 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 02af65eec9a..842f95e76ee 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 1cdc8fd7766..0f65a41cc18 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 af6732a4c5d..c1b18e395b1 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 90b65a0f96c..a67a5779078 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 @@ -16,7 +16,7 @@ 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.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise 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 de3aca917f7..9f7c074a714 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 9bc92bd8f69..a45de0d7ec4 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 @@ -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/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 6b7f82fde06..5f85980ae4a 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 ContactSensorCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_assets.robots import KUKA_ALLEGRO_CFG 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 7d1e32ca6cd..32af8ca178a 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 @@ -18,7 +18,7 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import CapsuleCfg, ConeCfg, CuboidCfg, RigidBodyMaterialCfg, SphereCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise 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 e3c83882a3f..1b7f6904fce 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 @@ -8,7 +8,7 @@ import isaaclab.sim as sim_utils from isaaclab.managers import CommandTermCfg from isaaclab.markers import VisualizationMarkersCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from . import pose_commands as dex_cmd 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 b1d3d4be175..d647cd71e28 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 7223ce0234f..41e53512d30 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 09f5a6bb234..2014797d93e 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 @@ -21,7 +21,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.noise import AdditiveGaussianNoiseCfg as Gnoise 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 8c020137c0c..9a02b472a67 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 @@ -8,7 +8,7 @@ import isaaclab.sim as sim_utils from isaaclab.managers import CommandTermCfg from isaaclab.markers import VisualizationMarkersCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from .orientation_command import InHandReOrientationCommand 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 7a94614d8c9..294280c0cd4 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 4492b487375..5a8f6ca1545 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 @@ -10,7 +10,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR 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 5e5c95e7d47..a598c724a0e 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 58c161aab18..dc62ec3b1b7 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 @@ -8,7 +8,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.lift import mdp 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 f079552f1f4..63f42674e52 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 40f6e655259..9b86ca355d6 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 @@ -10,7 +10,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.lift import mdp 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 42d6555b416..55e098ac436 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 @@ -26,7 +26,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR 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 b54b6114ee7..6cd02601404 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 @@ -21,7 +21,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR 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 246871a9963..6d173a34f49 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 @@ -31,7 +31,7 @@ # 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.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR 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 4d22c35e1f4..979aac24fe9 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 @@ -18,7 +18,7 @@ import isaaclab.controllers.utils as ControllerUtils from isaaclab.controllers.pink_ik import NullSpacePostureTask, 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 39ba417d36d..a8c870c2c83 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 @@ -31,7 +31,7 @@ # 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.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR 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 1e05d8b8589..a8e6849c1fd 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 @@ -18,7 +18,7 @@ import isaaclab.controllers.utils as ControllerUtils from isaaclab.controllers.pink_ik import NullSpacePostureTask, 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 dd1edbf7d8b..c4619e77852 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 @@ -33,7 +33,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path 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 ba27679831f..8844e645798 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 @@ -16,7 +16,7 @@ import isaaclab.controllers.utils as ControllerUtils 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 9f7fb2289fe..8aaf86d1317 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 @@ -33,7 +33,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path 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 bf47a30f1fc..187ee239b1f 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 @@ -23,7 +23,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.place import mdp as place_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 29206a8f486..6cc7eb973e3 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 @@ -20,7 +20,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.place import mdp as place_mdp 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 ede70559fd5..efae5e861b9 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 b090e568965..869b99d4c65 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 024a42270d8..d36063b8c71 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 a848ddb8766..17f9e3859e9 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 e612439fda7..24b94f26643 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 d1dd736a2ed..69e5f97522c 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 6b17b4174cb..4eff840b708 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 7ccdfa0f851..d7b1be73a2b 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 AdditiveUniformNoiseCfg 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 4d43c357419..e754aa2ba8d 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 2bfd6e326a5..b94be83a1d9 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 11305e7d1c0..a6ea32df7f4 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 @@ -22,7 +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.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise 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 c445786c44c..2a79b4d1ffc 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 6ddf935768b..3d7bc8f3449 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 e1f88e2400c..a08366bf08f 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 @@ -21,7 +21,7 @@ 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.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise 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 91ddcbb851c..d1207f915d1 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 08f651e954a..1ac0a706c7a 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 @@ -12,7 +12,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR 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_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py index 971be5c3144..1d367f8b108 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 ead320d8442..e8e7a058b8a 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 db61a0b9f9b..131667a6d66 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 @@ -6,7 +6,7 @@ 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_env_cfg 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 a8ed078d07d..55f2696d3f1 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 4f31184585d..d9174d5d2eb 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 ab199c4dcc1..699d617c29a 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 3cfe4616aa3..2dec2a3b2a6 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 @@ -11,7 +11,7 @@ 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.assets import ISAAC_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.stack import mdp 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 da9c783eca9..1f0792f5a90 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 @@ -10,7 +10,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.stack import mdp 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 a607f0c78c1..efc6ec7dbe7 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 @@ -12,7 +12,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.stack import mdp 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 3fba9f11d70..7d0d017c5d2 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 @@ -27,7 +27,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.stack import mdp 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 236ad80dead..93634f1bed1 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 @@ -12,7 +12,7 @@ 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 0e6b2df08b2..44c2457e3dc 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 296b95e103a..f59b97e41c2 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 @@ -13,7 +13,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab_tasks.manager_based.manipulation.stack import mdp 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 a7f3e560edb..22e997fdfdf 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 @@ -18,7 +18,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR 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 29c280ab98e..dfe31d56130 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 @@ -16,7 +16,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR 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 93ec98732f8..b1ac2abc159 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, 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 96b60705bb5..3f90976535a 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 @@ -12,7 +12,7 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR import isaaclab_tasks.manager_based.navigation.mdp as mdp 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 a69d3791a51..7f25c9197fa 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 from .pre_trained_policy_action import PreTrainedPolicyAction diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py b/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py index 525b425917f..80ef10d484f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py +++ b/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py @@ -17,7 +17,7 @@ from isaaclab.envs import DirectRLEnvCfg, ManagerBasedRLEnvCfg from isaaclab.envs.utils.spaces import replace_env_cfg_spaces_with_strings, replace_strings_with_env_cfg_spaces -from isaaclab.utils import replace_slices_with_strings, replace_strings_with_slices +from isaaclab.utils.dict import replace_slices_with_strings, replace_strings_with_slices from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry diff --git a/source/isaaclab_tasks/test/test_hydra.py b/source/isaaclab_tasks/test/test_hydra.py index 5c81cb3e650..64861045b17 100644 --- a/source/isaaclab_tasks/test/test_hydra.py +++ b/source/isaaclab_tasks/test/test_hydra.py @@ -23,7 +23,7 @@ from hydra import compose, initialize from omegaconf import OmegaConf -from isaaclab.utils import replace_strings_with_slices +from isaaclab.utils.dict import replace_strings_with_slices import isaaclab_tasks # noqa: F401 from isaaclab_tasks.utils.hydra import register_task_to_hydra diff --git a/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py b/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py index b2c9f303cc9..37e02a48a34 100644 --- a/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py +++ b/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py @@ -11,7 +11,7 @@ from dataclasses import MISSING, field from typing import TYPE_CHECKING -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass 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 7382f857025..3a9997a3737 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 2d2ed844496..ced50bbb80b 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): From 40a79bbf122b05e2c2bb7aacc969f2b752848687 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Thu, 26 Feb 2026 17:01:37 +0100 Subject: [PATCH 2/2] format --- scripts/demos/bin_packing.py | 2 +- scripts/demos/haply_teleoperation.py | 2 +- scripts/demos/multi_asset.py | 2 +- scripts/demos/sensors/multi_mesh_raycaster.py | 2 +- scripts/demos/sensors/multi_mesh_raycaster_camera.py | 2 +- scripts/demos/sensors/raycaster_sensor.py | 2 +- scripts/demos/sensors/tacsl_sensor.py | 2 +- scripts/tools/check_instanceable.py | 2 +- scripts/tutorials/03_envs/create_quadruped_base_env.py | 2 +- scripts/tutorials/04_sensors/run_ray_caster_camera.py | 2 +- scripts/tutorials/05_controllers/run_diff_ik.py | 2 +- source/isaaclab/isaaclab/managers/observation_manager.py | 2 +- source/isaaclab/isaaclab/sensors/camera/camera.py | 2 +- .../isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py | 2 +- .../test/envs/check_manager_based_env_anymal_locomotion.py | 2 +- source/isaaclab/test/envs/test_texture_randomization.py | 2 +- source/isaaclab/test/scene/test_interactive_scene.py | 2 +- .../sensors/tacsl_sensor/visuotactile_sensor_cfg.py | 2 +- .../locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py | 2 +- .../isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py | 2 +- .../isaaclab_tasks/direct/automate/assembly_tasks_cfg.py | 2 +- .../isaaclab_tasks/direct/automate/disassembly_tasks_cfg.py | 2 +- .../isaaclab_tasks/direct/factory/factory_tasks_cfg.py | 2 +- .../direct/franka_cabinet/franka_cabinet_env_cfg.py | 2 +- .../isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py | 2 +- .../config/arl_robot_1/track_position_state_based_env_cfg.py | 2 +- .../pick_place/fixed_base_upper_body_ik_g1_env_cfg.py | 2 +- .../locomanipulation/pick_place/locomanipulation_g1_env_cfg.py | 2 +- .../locomotion/velocity/config/spot/flat_env_cfg.py | 2 +- .../manager_based/locomotion/velocity/velocity_env_cfg.py | 2 +- .../manager_based/manipulation/cabinet/cabinet_env_cfg.py | 2 +- .../cabinet/config/openarm/cabinet_openarm_env_cfg.py | 2 +- .../manipulation/deploy/gear_assembly/gear_assembly_env_cfg.py | 2 +- .../manager_based/manipulation/deploy/reach/reach_env_cfg.py | 2 +- .../manager_based/manipulation/dexsuite/dexsuite_env_cfg.py | 2 +- .../manipulation/dexsuite/mdp/commands/pose_commands_cfg.py | 2 +- .../manager_based/manipulation/inhand/inhand_env_cfg.py | 2 +- .../manipulation/inhand/mdp/commands/commands_cfg.py | 2 +- .../manipulation/lift/config/franka/ik_abs_env_cfg.py | 2 +- .../manipulation/lift/config/franka/joint_pos_env_cfg.py | 2 +- .../manipulation/lift/config/openarm/joint_pos_env_cfg.py | 2 +- .../manipulation/lift/config/openarm/lift_openarm_env_cfg.py | 2 +- .../manager_based/manipulation/lift/lift_env_cfg.py | 2 +- .../manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py | 2 +- .../manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py | 2 +- .../manipulation/pick_place/pickplace_gr1t2_env_cfg.py | 2 +- .../pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py | 2 +- .../place/config/agibot/place_toy2box_rmp_rel_env_cfg.py | 2 +- .../place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py | 2 +- .../reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py | 2 +- .../manager_based/manipulation/reach/reach_env_cfg.py | 2 +- .../stack/config/franka/bin_stack_joint_pos_env_cfg.py | 2 +- .../stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py | 2 +- .../manipulation/stack/config/franka/stack_joint_pos_env_cfg.py | 2 +- .../config/franka/stack_joint_pos_instance_randomize_env_cfg.py | 2 +- .../manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py | 2 +- .../stack/config/ur10_gripper/stack_joint_pos_env_cfg.py | 2 +- .../manager_based/manipulation/stack/stack_env_cfg.py | 2 +- .../manipulation/stack/stack_instance_randomize_env_cfg.py | 2 +- .../navigation/config/anymal_c/navigation_env_cfg.py | 2 +- 60 files changed, 60 insertions(+), 60 deletions(-) diff --git a/scripts/demos/bin_packing.py b/scripts/demos/bin_packing.py index dee3e1ddac2..f9a24c4ef9e 100644 --- a/scripts/demos/bin_packing.py +++ b/scripts/demos/bin_packing.py @@ -50,9 +50,9 @@ from isaaclab.assets import AssetBaseCfg, RigidObjectCfg, RigidObjectCollection, RigidObjectCollectionCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationContext +from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR from isaaclab.utils.configclass import configclass from isaaclab.utils.timer import Timer -from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR ## # Scene Configuration diff --git a/scripts/demos/haply_teleoperation.py b/scripts/demos/haply_teleoperation.py index 9ec6dd2cd62..3746f8f2e10 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.configclass 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 5bcb74f901c..a572ca27a3d 100644 --- a/scripts/demos/multi_asset.py +++ b/scripts/demos/multi_asset.py @@ -54,9 +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.assets import ISAACLAB_NUCLEUS_DIR from isaaclab.utils.configclass import configclass from isaaclab.utils.timer import Timer -from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR ## # Pre-defined Configuration diff --git a/scripts/demos/sensors/multi_mesh_raycaster.py b/scripts/demos/sensors/multi_mesh_raycaster.py index 252c09a2b92..16d934b994e 100644 --- a/scripts/demos/sensors/multi_mesh_raycaster.py +++ b/scripts/demos/sensors/multi_mesh_raycaster.py @@ -56,8 +56,8 @@ from isaaclab.markers.config import VisualizationMarkersCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors.ray_caster import MultiMeshRayCasterCfg, patterns -from isaaclab.utils.configclass 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 01e47913ccf..dd816c59e3e 100644 --- a/scripts/demos/sensors/multi_mesh_raycaster_camera.py +++ b/scripts/demos/sensors/multi_mesh_raycaster_camera.py @@ -56,8 +56,8 @@ from isaaclab.markers.config import VisualizationMarkersCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors.ray_caster import MultiMeshRayCasterCameraCfg, patterns -from isaaclab.utils.configclass 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/raycaster_sensor.py b/scripts/demos/sensors/raycaster_sensor.py index 9ae9f1d344d..633b6ca62cb 100644 --- a/scripts/demos/sensors/raycaster_sensor.py +++ b/scripts/demos/sensors/raycaster_sensor.py @@ -29,8 +29,8 @@ from isaaclab.assets import AssetBaseCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors.ray_caster import RayCasterCfg, patterns -from isaaclab.utils.configclass 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 16549fdaf25..6337d703fe2 100644 --- a/scripts/demos/sensors/tacsl_sensor.py +++ b/scripts/demos/sensors/tacsl_sensor.py @@ -82,8 +82,8 @@ from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sensors import TiledCameraCfg -from isaaclab.utils.configclass 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/tools/check_instanceable.py b/scripts/tools/check_instanceable.py index 346713b3f9e..c21246aa4cd 100644 --- a/scripts/tools/check_instanceable.py +++ b/scripts/tools/check_instanceable.py @@ -68,8 +68,8 @@ import isaaclab.sim as sim_utils from isaaclab.sim import SimulationCfg, SimulationContext -from isaaclab.utils.timer import Timer from isaaclab.utils.assets import check_file_path +from isaaclab.utils.timer import Timer def main(): diff --git a/scripts/tutorials/03_envs/create_quadruped_base_env.py b/scripts/tutorials/03_envs/create_quadruped_base_env.py index bf1c3f54f68..8f287b5005f 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.configclass 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/run_ray_caster_camera.py b/scripts/tutorials/04_sensors/run_ray_caster_camera.py index 4e7e0bdf2be..7682d5bc43a 100644 --- a/scripts/tutorials/04_sensors/run_ray_caster_camera.py +++ b/scripts/tutorials/04_sensors/run_ray_caster_camera.py @@ -43,8 +43,8 @@ import isaaclab.sim as sim_utils from isaaclab.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns -from isaaclab.utils.dict import convert_dict_to_backend from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.dict import convert_dict_to_backend from isaaclab.utils.math import project_points, unproject_depth diff --git a/scripts/tutorials/05_controllers/run_diff_ik.py b/scripts/tutorials/05_controllers/run_diff_ik.py index d48b1cb7a55..8323003682f 100644 --- a/scripts/tutorials/05_controllers/run_diff_ik.py +++ b/scripts/tutorials/05_controllers/run_diff_ik.py @@ -48,8 +48,8 @@ from isaaclab.markers import VisualizationMarkers from isaaclab.markers.config import FRAME_MARKER_CFG from isaaclab.scene import InteractiveScene, InteractiveSceneCfg -from isaaclab.utils.configclass 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/source/isaaclab/isaaclab/managers/observation_manager.py b/source/isaaclab/isaaclab/managers/observation_manager.py index 61d93b3afe2..f8f9927c694 100644 --- a/source/isaaclab/isaaclab/managers/observation_manager.py +++ b/source/isaaclab/isaaclab/managers/observation_manager.py @@ -16,8 +16,8 @@ from prettytable import PrettyTable from isaaclab.utils import modifiers, noise -from isaaclab.utils.dict import class_to_dict from isaaclab.utils.buffers import CircularBuffer +from isaaclab.utils.dict import class_to_dict from .manager_base import ManagerBase, ManagerTermBase from .manager_term_cfg import ObservationGroupCfg, ObservationTermCfg diff --git a/source/isaaclab/isaaclab/sensors/camera/camera.py b/source/isaaclab/isaaclab/sensors/camera/camera.py index cdafb01c2d7..c0889c7761b 100644 --- a/source/isaaclab/isaaclab/sensors/camera/camera.py +++ b/source/isaaclab/isaaclab/sensors/camera/camera.py @@ -21,13 +21,13 @@ import isaaclab.utils.sensors as sensor_utils from isaaclab.app.settings_manager import get_settings_manager from isaaclab.sim.views import XformPrimView -from isaaclab.utils.string import to_camel_case from isaaclab.utils.array import convert_to_torch from isaaclab.utils.math import ( convert_camera_frame_orientation_convention, create_rotation_matrix_from_view, quat_from_matrix, ) +from isaaclab.utils.string import to_camel_case from isaaclab.utils.version import get_isaac_sim_version from ..sensor_base import SensorBase 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 fcf36d768d7..babfc8941c9 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 @@ -11,8 +11,8 @@ from isaaclab.sim import converters, schemas from isaaclab.sim.spawners import materials from isaaclab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg, SpawnerCfg -from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from . import from_files 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 69d03474b7c..0d6dd0cdfad 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.configclass 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 AdditiveUniformNoiseCfg as Unoise ## diff --git a/source/isaaclab/test/envs/test_texture_randomization.py b/source/isaaclab/test/envs/test_texture_randomization.py index 597ecffbf99..cbc3a7f4faf 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.configclass 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/scene/test_interactive_scene.py b/source/isaaclab/test/scene/test_interactive_scene.py index c9efd9bc542..99592336aa6 100644 --- a/source/isaaclab/test/scene/test_interactive_scene.py +++ b/source/isaaclab/test/scene/test_interactive_scene.py @@ -21,8 +21,8 @@ from isaaclab.assets import ArticulationCfg, RigidObjectCfg from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import build_simulation_context -from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass @configclass 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 56f332af960..b91db1ff39e 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 @@ -12,8 +12,8 @@ from isaaclab.markers import VisualizationMarkersCfg from isaaclab.markers.config import VISUO_TACTILE_SENSOR_MARKER_CFG from isaaclab.sensors import SensorBaseCfg, TiledCameraCfg -from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from .visuotactile_sensor import VisuoTactileSensor 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 df30a6921b0..578517d7021 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 @@ -13,8 +13,8 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import CameraCfg from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.utils.configclass 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_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 c1fc19e1b73..dc0dc94742b 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 @@ -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.configclass 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/isaaclab_tasks/direct/automate/assembly_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_tasks_cfg.py index a950fd7930b..635cedc2714 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.configclass 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_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_tasks_cfg.py index fc33d4cd9d4..53307fd4034 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.configclass 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/factory/factory_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_tasks_cfg.py index c421f6ffcd7..4841f58d161 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.configclass 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/franka_cabinet/franka_cabinet_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py index dacc2dacf82..9b2c9cc740b 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.configclass 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/shadow_hand/shadow_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py index 3513b8766e6..5afaf3b10d4 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 @@ -15,8 +15,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import SimulationCfg from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from isaaclab.utils.configclass 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_assets.robots.shadow_hand import SHADOW_HAND_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 b9471db32ac..b2e905d3c72 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise from isaaclab_contrib.assets import MultirotorCfg 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 426c3e38ad6..d7c0f11ffc1 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 @@ -25,8 +25,8 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path +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 2c8079cb6b9..8a1b5495343 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 @@ -24,8 +24,8 @@ 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path +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/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 20808b55aba..0913351b150 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 @@ -12,8 +12,8 @@ from isaaclab.managers import RewardTermCfg, SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveUniformNoiseCfg 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 faf89529014..75f7a8bf460 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 @@ -21,8 +21,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import ContactSensorCfg, RayCasterCfg, patterns from isaaclab.terrains import TerrainImporterCfg -from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.locomotion.velocity.mdp as 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 6f855bf8acb..888e043a9b1 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 @@ -21,8 +21,8 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors import FrameTransformerCfg from isaaclab.sensors.frame_transformer import OffsetCfg -from isaaclab.utils.configclass 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/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 f82a2d8eb69..a3ae3514823 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.configclass 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/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 7440d493dc8..d5db596be86 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.configclass 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/reach/reach_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/reach_env_cfg.py index a67a5779078..d8ecbc1c4a2 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp 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 32af8ca178a..26a08190f54 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 @@ -18,8 +18,8 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim import CapsuleCfg, ConeCfg, CuboidCfg, RigidBodyMaterialCfg, SphereCfg -from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise from . import mdp 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 1b7f6904fce..6f774741cd7 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 @@ -8,8 +8,8 @@ import isaaclab.sim as sim_utils from isaaclab.managers import CommandTermCfg from isaaclab.markers import VisualizationMarkersCfg -from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from . import pose_commands as dex_cmd 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 2014797d93e..70fa8d81461 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveGaussianNoiseCfg 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 9a02b472a67..d5afb8f35e3 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from .orientation_command import InHandReOrientationCommand 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 5a8f6ca1545..388837be412 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.configclass 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/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py index dc62ec3b1b7..90d46450ba9 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.configclass 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/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py index 9b86ca355d6..c997f5ea770 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.configclass 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 55e098ac436..fcad5b34349 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.configclass 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 6cd02601404..0d07c046a56 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.configclass 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 6d173a34f49..6adfb93ddff 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 @@ -31,8 +31,8 @@ # from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils.configclass 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_base_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py index a8c870c2c83..86fa1b26014 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 @@ -31,8 +31,8 @@ # from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from isaaclab.utils.configclass 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/pickplace_gr1t2_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py index c4619e77852..9c8212ab3ed 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 @@ -33,8 +33,8 @@ 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.configclass 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_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 8aaf86d1317..083fc161f97 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 @@ -33,8 +33,8 @@ 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.configclass 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 187ee239b1f..9b922cbe6b1 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.configclass 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 6cc7eb973e3..7f79f03d407 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.configclass 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/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 a6ea32df7f4..5d67bec6db4 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.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp 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 a08366bf08f..ae462763e36 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 @@ -21,8 +21,8 @@ from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg -from isaaclab.utils.configclass import configclass from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import AdditiveUniformNoiseCfg 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_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 1ac0a706c7a..c12d4b1e44b 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.configclass 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_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 2dec2a3b2a6..5c84b383687 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 @@ -11,8 +11,8 @@ from isaaclab.managers import ObservationTermCfg as ObsTerm from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import CameraCfg -from isaaclab.utils.configclass 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 1f0792f5a90..0e3963ff78e 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.configclass 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 efc6ec7dbe7..4ead882efe5 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.configclass 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 7d0d017c5d2..0bcef63b990 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 @@ -27,8 +27,8 @@ 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.configclass 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/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 f59b97e41c2..40a241f9b90 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.configclass 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 22e997fdfdf..5805f480766 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.configclass 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 dfe31d56130..fbb27932ce3 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.configclass 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/navigation_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py index 3f90976535a..6b00cb05a24 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.configclass 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