Better looking imports

source/isaaclab/isaaclab/actuators/__init__.py

@@ -22,22 +22,19 @@
 and called by the :class:`isaaclab.assets.Articulation` class.
 """
 
-import lazy_loader as lazy
-
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "actuator_base": ["ActuatorBase"],
-        "actuator_base_cfg": ["ActuatorBaseCfg"],
-        "actuator_net": ["ActuatorNetLSTM", "ActuatorNetMLP"],
-        "actuator_net_cfg": ["ActuatorNetLSTMCfg", "ActuatorNetMLPCfg"],
-        "actuator_pd": ["DCMotor", "DelayedPDActuator", "IdealPDActuator", "ImplicitActuator", "RemotizedPDActuator"],
-        "actuator_pd_cfg": [
-            "DCMotorCfg",
-            "DelayedPDActuatorCfg",
-            "IdealPDActuatorCfg",
-            "ImplicitActuatorCfg",
-            "RemotizedPDActuatorCfg",
-        ],
-    },
+from isaaclab.utils.lazy_imports import lazy_export
+
+lazy_export(
+    ("actuator_base", "ActuatorBase"),
+    ("actuator_base_cfg", "ActuatorBaseCfg"),
+    ("actuator_net", ["ActuatorNetLSTM", "ActuatorNetMLP"]),
+    ("actuator_net_cfg", ["ActuatorNetLSTMCfg", "ActuatorNetMLPCfg"]),
+    ("actuator_pd", ["DCMotor", "DelayedPDActuator", "IdealPDActuator", "ImplicitActuator", "RemotizedPDActuator"]),
+    ("actuator_pd_cfg", [
+        "DCMotorCfg",
+        "DelayedPDActuatorCfg",
+        "IdealPDActuatorCfg",
+        "ImplicitActuatorCfg",
+        "RemotizedPDActuatorCfg",
+    ]),
 )

source/isaaclab/isaaclab/assets/__init__.py

@@ -38,21 +38,18 @@
 the corresponding actuator torques.
 """
 
-import lazy_loader as lazy
-
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "asset_base": ["AssetBase"],
-        "asset_base_cfg": ["AssetBaseCfg"],
-        "articulation": ["BaseArticulation", "BaseArticulationData", "Articulation", "ArticulationCfg", "ArticulationData"],
-        "rigid_object": ["BaseRigidObject", "BaseRigidObjectData", "RigidObject", "RigidObjectCfg", "RigidObjectData"],
-        "rigid_object_collection": [
-            "BaseRigidObjectCollection",
-            "BaseRigidObjectCollectionData",
-            "RigidObjectCollection",
-            "RigidObjectCollectionCfg",
-            "RigidObjectCollectionData",
-        ],
-    },
+from isaaclab.utils.lazy_imports import lazy_export
+
+lazy_export(
+    ("asset_base", "AssetBase"),
+    ("asset_base_cfg", "AssetBaseCfg"),
+    ("articulation", ["BaseArticulation", "BaseArticulationData", "Articulation", "ArticulationCfg", "ArticulationData"]),
+    ("rigid_object", ["BaseRigidObject", "BaseRigidObjectData", "RigidObject", "RigidObjectCfg", "RigidObjectData"]),
+    ("rigid_object_collection", [
+        "BaseRigidObjectCollection",
+        "BaseRigidObjectCollectionData",
+        "RigidObjectCollection",
+        "RigidObjectCollectionCfg",
+        "RigidObjectCollectionData",
+    ]),
 )

source/isaaclab/isaaclab/assets/articulation/__init__.py

@@ -5,15 +5,12 @@
 
 """Sub-module for rigid articulated assets."""
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "base_articulation": ["BaseArticulation"],
-        "base_articulation_data": ["BaseArticulationData"],
-        "articulation": ["Articulation"],
-        "articulation_cfg": ["ArticulationCfg"],
-        "articulation_data": ["ArticulationData"],
-    },
+lazy_export(
+    ("base_articulation", "BaseArticulation"),
+    ("base_articulation_data", "BaseArticulationData"),
+    ("articulation", "Articulation"),
+    ("articulation_cfg", "ArticulationCfg"),
+    ("articulation_data", "ArticulationData"),
 )

source/isaaclab/isaaclab/assets/rigid_object/__init__.py

@@ -5,15 +5,12 @@
 
 """Sub-module for rigid object assets."""
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "base_rigid_object": ["BaseRigidObject"],
-        "base_rigid_object_data": ["BaseRigidObjectData"],
-        "rigid_object": ["RigidObject"],
-        "rigid_object_cfg": ["RigidObjectCfg"],
-        "rigid_object_data": ["RigidObjectData"],
-    },
+lazy_export(
+    ("base_rigid_object", "BaseRigidObject"),
+    ("base_rigid_object_data", "BaseRigidObjectData"),
+    ("rigid_object", "RigidObject"),
+    ("rigid_object_cfg", "RigidObjectCfg"),
+    ("rigid_object_data", "RigidObjectData"),
 )

source/isaaclab/isaaclab/assets/rigid_object_collection/__init__.py

@@ -5,15 +5,12 @@
 
 """Sub-module for rigid object collection."""
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "base_rigid_object_collection": ["BaseRigidObjectCollection"],
-        "base_rigid_object_collection_data": ["BaseRigidObjectCollectionData"],
-        "rigid_object_collection": ["RigidObjectCollection"],
-        "rigid_object_collection_cfg": ["RigidObjectCollectionCfg"],
-        "rigid_object_collection_data": ["RigidObjectCollectionData"],
-    },
+lazy_export(
+    ("base_rigid_object_collection", "BaseRigidObjectCollection"),
+    ("base_rigid_object_collection_data", "BaseRigidObjectCollectionData"),
+    ("rigid_object_collection", "RigidObjectCollection"),
+    ("rigid_object_collection_cfg", "RigidObjectCollectionCfg"),
+    ("rigid_object_collection_data", "RigidObjectCollectionData"),
 )

source/isaaclab/isaaclab/cloner/__init__.py

@@ -5,19 +5,16 @@
 
 """Sub-package for environment cloning utilities."""
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "cloner_cfg": ["TemplateCloneCfg"],
-        "cloner_strategies": ["random", "sequential"],
-        "cloner_utils": [
-            "clone_from_template",
-            "make_clone_plan",
-            "usd_replicate",
-            "filter_collisions",
-            "grid_transforms",
-        ],
-    },
+lazy_export(
+    ("cloner_cfg", "TemplateCloneCfg"),
+    ("cloner_strategies", ["random", "sequential"]),
+    ("cloner_utils", [
+        "clone_from_template",
+        "make_clone_plan",
+        "usd_replicate",
+        "filter_collisions",
+        "grid_transforms",
+    ]),
 )

source/isaaclab/isaaclab/devices/__init__.py

@@ -20,19 +20,16 @@
 the peripheral device.
 """
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
+lazy_export(
+    ("device_base", ["DeviceBase", "DeviceCfg", "DevicesCfg"]),
+    ("gamepad", ["Se2Gamepad", "Se2GamepadCfg", "Se3Gamepad", "Se3GamepadCfg"]),
+    ("haply", ["HaplyDevice", "HaplyDeviceCfg"]),
+    ("keyboard", ["Se2Keyboard", "Se2KeyboardCfg", "Se3Keyboard", "Se3KeyboardCfg"]),
+    ("openxr", ["ManusVive", "ManusViveCfg", "OpenXRDevice", "OpenXRDeviceCfg"]),
+    ("retargeter_base", ["RetargeterBase", "RetargeterCfg"]),
+    ("spacemouse", ["Se2SpaceMouse", "Se2SpaceMouseCfg", "Se3SpaceMouse", "Se3SpaceMouseCfg"]),
+    ("teleop_device_factory", "create_teleop_device"),
     submodules=["openxr"],
-    submod_attrs={
-        "device_base": ["DeviceBase", "DeviceCfg", "DevicesCfg"],
-        "gamepad": ["Se2Gamepad", "Se2GamepadCfg", "Se3Gamepad", "Se3GamepadCfg"],
-        "haply": ["HaplyDevice", "HaplyDeviceCfg"],
-        "keyboard": ["Se2Keyboard", "Se2KeyboardCfg", "Se3Keyboard", "Se3KeyboardCfg"],
-        "openxr": ["ManusVive", "ManusViveCfg", "OpenXRDevice", "OpenXRDeviceCfg"],
-        "retargeter_base": ["RetargeterBase", "RetargeterCfg"],
-        "spacemouse": ["Se2SpaceMouse", "Se2SpaceMouseCfg", "Se3SpaceMouse", "Se3SpaceMouseCfg"],
-        "teleop_device_factory": ["create_teleop_device"],
-    },
 )

source/isaaclab/isaaclab/devices/gamepad/__init__.py

@@ -5,14 +5,11 @@
 
 """Gamepad device for SE(2) and SE(3) control."""
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "se2_gamepad": ["Se2Gamepad"],
-        "se2_gamepad_cfg": ["Se2GamepadCfg"],
-        "se3_gamepad": ["Se3Gamepad"],
-        "se3_gamepad_cfg": ["Se3GamepadCfg"],
-    },
+lazy_export(
+    ("se2_gamepad", "Se2Gamepad"),
+    ("se2_gamepad_cfg", "Se2GamepadCfg"),
+    ("se3_gamepad", "Se3Gamepad"),
+    ("se3_gamepad_cfg", "Se3GamepadCfg"),
 )

source/isaaclab/isaaclab/devices/keyboard/__init__.py

@@ -5,14 +5,11 @@
 
 """Keyboard device for SE(2) and SE(3) control."""
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "se2_keyboard": ["Se2Keyboard"],
-        "se2_keyboard_cfg": ["Se2KeyboardCfg"],
-        "se3_keyboard": ["Se3Keyboard"],
-        "se3_keyboard_cfg": ["Se3KeyboardCfg"],
-    },
+lazy_export(
+    ("se2_keyboard", "Se2Keyboard"),
+    ("se2_keyboard_cfg", "Se2KeyboardCfg"),
+    ("se3_keyboard", "Se3Keyboard"),
+    ("se3_keyboard_cfg", "Se3KeyboardCfg"),
 )

source/isaaclab/isaaclab/devices/spacemouse/__init__.py

@@ -5,14 +5,11 @@
 
 """Spacemouse device for SE(2) and SE(3) control."""
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "se2_spacemouse": ["Se2SpaceMouse"],
-        "se2_spacemouse_cfg": ["Se2SpaceMouseCfg"],
-        "se3_spacemouse": ["Se3SpaceMouse"],
-        "se3_spacemouse_cfg": ["Se3SpaceMouseCfg"],
-    },
+lazy_export(
+    ("se2_spacemouse", "Se2SpaceMouse"),
+    ("se2_spacemouse_cfg", "Se2SpaceMouseCfg"),
+    ("se3_spacemouse", "Se3SpaceMouse"),
+    ("se3_spacemouse_cfg", "Se3SpaceMouseCfg"),
 )

source/isaaclab/isaaclab/envs/__init__.py

@@ -42,27 +42,24 @@
 .. _`Task Design Workflows`: https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/workflows.html
 """
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
+lazy_export(
+    # Pure data types
+    ("common", ["VecEnvObs", "VecEnvStepReturn", "ViewerCfg"]),
+    # Cfg classes — clean after Phase 3/4
+    ("direct_rl_env_cfg", "DirectRLEnvCfg"),
+    ("direct_marl_env_cfg", "DirectMARLEnvCfg"),
+    ("manager_based_env_cfg", "ManagerBasedEnvCfg"),
+    ("manager_based_rl_env_cfg", "ManagerBasedRLEnvCfg"),
+    ("mimic_env_cfg", ["MimicEnvCfg", "MimicObservationGroupCfg", "MimicObservationTermCfg"]),
+    # Impl classes — deferred until needed
+    ("direct_rl_env", "DirectRLEnv"),
+    ("direct_marl_env", "DirectMARLEnv"),
+    ("manager_based_env", "ManagerBasedEnv"),
+    ("manager_based_rl_env", "ManagerBasedRLEnv"),
+    ("manager_based_rl_mimic_env", "ManagerBasedRLMimicEnv"),
+    # MARL utilities
+    ("utils.marl", ["multi_agent_to_single_agent", "multi_agent_with_one_agent"]),
     submodules=["mdp", "ui"],
-    submod_attrs={
-        # Pure data types
-        "common": ["VecEnvObs", "VecEnvStepReturn", "ViewerCfg"],
-        # Cfg classes — clean after Phase 3/4
-        "direct_rl_env_cfg": ["DirectRLEnvCfg"],
-        "direct_marl_env_cfg": ["DirectMARLEnvCfg"],
-        "manager_based_env_cfg": ["ManagerBasedEnvCfg"],
-        "manager_based_rl_env_cfg": ["ManagerBasedRLEnvCfg"],
-        "mimic_env_cfg": ["MimicEnvCfg", "MimicObservationGroupCfg", "MimicObservationTermCfg"],
-        # Impl classes — deferred until needed
-        "direct_rl_env": ["DirectRLEnv"],
-        "direct_marl_env": ["DirectMARLEnv"],
-        "manager_based_env": ["ManagerBasedEnv"],
-        "manager_based_rl_env": ["ManagerBasedRLEnv"],
-        "manager_based_rl_mimic_env": ["ManagerBasedRLMimicEnv"],
-        # MARL utilities
-        "utils.marl": ["multi_agent_to_single_agent", "multi_agent_with_one_agent"],
-    },
 )

source/isaaclab/isaaclab/envs/mdp/actions/__init__.py

@@ -5,32 +5,29 @@
 
 """Various action terms that can be used in the environment."""
 
-import lazy_loader as lazy
+from isaaclab.utils.lazy_imports import lazy_export
 
-__getattr__, __dir__, __all__ = lazy.attach(
-    __name__,
-    submod_attrs={
-        "actions_cfg": [
-            "JointActionCfg",
-            "JointPositionActionCfg",
-            "RelativeJointPositionActionCfg",
-            "JointVelocityActionCfg",
-            "JointEffortActionCfg",
-            "JointPositionToLimitsActionCfg",
-            "EMAJointPositionToLimitsActionCfg",
-            "BinaryJointActionCfg",
-            "BinaryJointPositionActionCfg",
-            "BinaryJointVelocityActionCfg",
-            "AbsBinaryJointPositionActionCfg",
-            "NonHolonomicActionCfg",
-            "DifferentialInverseKinematicsActionCfg",
-            "OperationalSpaceControllerActionCfg",
-            "SurfaceGripperBinaryActionCfg",
-        ],
-        "binary_joint_actions": ["BinaryJointAction", "BinaryJointPositionAction", "BinaryJointVelocityAction", "AbsBinaryJointPositionAction"],
-        "joint_actions": ["JointAction", "JointPositionAction", "RelativeJointPositionAction", "JointVelocityAction", "JointEffortAction"],
-        "joint_actions_to_limits": ["JointPositionToLimitsAction", "EMAJointPositionToLimitsAction"],
-        "non_holonomic_actions": ["NonHolonomicAction"],
-        "surface_gripper_actions": ["SurfaceGripperBinaryAction"],
-    },
+lazy_export(
+    ("actions_cfg", [
+        "JointActionCfg",
+        "JointPositionActionCfg",
+        "RelativeJointPositionActionCfg",
+        "JointVelocityActionCfg",
+        "JointEffortActionCfg",
+        "JointPositionToLimitsActionCfg",
+        "EMAJointPositionToLimitsActionCfg",
+        "BinaryJointActionCfg",
+        "BinaryJointPositionActionCfg",
+        "BinaryJointVelocityActionCfg",
+        "AbsBinaryJointPositionActionCfg",
+        "NonHolonomicActionCfg",
+        "DifferentialInverseKinematicsActionCfg",
+        "OperationalSpaceControllerActionCfg",
+        "SurfaceGripperBinaryActionCfg",
+    ]),
+    ("binary_joint_actions", ["BinaryJointAction", "BinaryJointPositionAction", "BinaryJointVelocityAction", "AbsBinaryJointPositionAction"]),
+    ("joint_actions", ["JointAction", "JointPositionAction", "RelativeJointPositionAction", "JointVelocityAction", "JointEffortAction"]),
+    ("joint_actions_to_limits", ["JointPositionToLimitsAction", "EMAJointPositionToLimitsAction"]),
+    ("non_holonomic_actions", "NonHolonomicAction"),
+    ("surface_gripper_actions", "SurfaceGripperBinaryAction"),
 )