[pull] develop from isaac-sim:develop

AGENTS.md

@@ -23,6 +23,16 @@
 - Use `./isaaclab.sh` only for installer workflows that require it.
 - Do not define Warp kernels in `python -c`; write a temporary Python file instead so Warp can inspect the source.
 
+## Code style
+
+- Group imports in PEP 8 order, separated by blank lines: `__future__`, standard library, third-party,
+  Omniverse runtime packages (`isaacsim`, `omni`, `pxr`, `carb`, ...), Isaac Lab packages, then local relative imports.
+  Ruff enforces this order through `uv run isaaclab -f`; do not sort imports by hand.
+- Import from the same package with relative imports when the target is at most three leading dots away
+  (e.g. `from ...utils import math as math_utils`). Use absolute imports for deeper targets and for other packages.
+- Keep absolute imports in modules that can run as scripts (with an `if __name__ == "__main__":` block),
+  since relative imports fail there.
+
 ## Testing and validation
 
 - Run the narrowest relevant test first.

source/isaaclab/changelog.d/core-cleanup-imports.skip

@@ -0,0 +1 @@
+Switched same-package imports in the core package to relative form up to three levels.

source/isaaclab/isaaclab/__init__.py

@@ -174,6 +174,6 @@ def bootstrap_kernel():
 
 def main():
     """Run the ``isaaclab`` command through its compatibility dispatcher."""
-    from isaaclab.__main__ import main as _main
+    from .__main__ import main as _main
 
     sys.exit(_main())

source/isaaclab/isaaclab/actuators/__init__.py

@@ -23,6 +23,6 @@
 which is exposed through :attr:`isaaclab.assets.Articulation.actuators`.
 """
 
-from isaaclab.utils.module import lazy_export
+from ..utils.module import lazy_export
 
 lazy_export()

source/isaaclab/isaaclab/actuators/_compat.py

@@ -17,7 +17,7 @@
 
 import torch
 
-from isaaclab.utils.string import _resolve_matching_values_dense
+from ..utils.string import _resolve_matching_values_dense
 
 from .actuator_base_cfg import _is_implicit_actuator_cfg
 

source/isaaclab/isaaclab/actuators/actuator_base.py

@@ -12,9 +12,8 @@
 
 import torch
 
-import isaaclab.utils.string as string_utils
-from isaaclab.utils.types import ArticulationActions
-
+from ..utils import string as string_utils
+from ..utils.types import ArticulationActions
 from ._compat import _limits_equal, _resolve_limit_aliases
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/actuators/actuator_base_cfg.py

@@ -7,7 +7,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils import configclass
+from ..utils import configclass
 
 
 def _is_implicit_actuator_cfg(cfg: ActuatorBaseCfg) -> bool:

source/isaaclab/isaaclab/actuators/actuator_collection.py

@@ -17,10 +17,9 @@
 import warp as wp
 from prettytable import PrettyTable
 
-from isaaclab.utils.types import ArticulationActions
-from isaaclab.utils.warp import ProxyArray
-from isaaclab.utils.warp.launch_cache import _WarpLaunchCache
-
+from ..utils.types import ArticulationActions
+from ..utils.warp import ProxyArray
+from ..utils.warp.launch_cache import _WarpLaunchCache
 from . import actuator_kernels
 from ._compat import _resolve_limit_aliases
 from .actuator_base import ActuatorBase, resolve_joint_parameter

source/isaaclab/isaaclab/actuators/actuator_control.py

@@ -14,8 +14,7 @@
 import torch
 import warp as wp
 
-from isaaclab.utils.warp import ProxyArray
-
+from ..utils.warp import ProxyArray
 from .actuator_base_cfg import ActuatorBaseCfg
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/actuators/actuator_kernels.py

@@ -12,7 +12,7 @@
 import torch
 import warp as wp
 
-from isaaclab.utils.warp.index_kernel import IndexKernelDispatcher
+from ..utils.warp.index_kernel import IndexKernelDispatcher
 
 
 @wp.kernel(enable_backward=False)

source/isaaclab/isaaclab/actuators/actuator_net.py

@@ -19,9 +19,8 @@
 
 import torch
 
-from isaaclab.utils.assets import read_file
-from isaaclab.utils.types import ArticulationActions
-
+from ..utils.assets import read_file
+from ..utils.types import ArticulationActions
 from .actuator_pd import DCMotor
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/actuators/actuator_net_cfg.py

@@ -7,8 +7,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils import configclass
-
+from ..utils import configclass
 from .actuator_pd_cfg import DCMotorCfg
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/actuators/actuator_pd.py

@@ -12,9 +12,8 @@
 
 import torch
 
-from isaaclab.utils import DelayBuffer, LinearInterpolation
-from isaaclab.utils.types import ArticulationActions
-
+from ..utils import DelayBuffer, LinearInterpolation
+from ..utils.types import ArticulationActions
 from ._compat import _limits_equal
 from .actuator_base import ActuatorBase, resolve_joint_parameter
 

source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py

@@ -6,8 +6,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils import configclass
-
+from ..utils import configclass
 from .actuator_base_cfg import ActuatorBaseCfg
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/actuators/newton/adapter.py

@@ -37,7 +37,7 @@
 )
 
 if TYPE_CHECKING:
-    from isaaclab.actuators import ActuatorCollection
+    from .. import ActuatorCollection
 
 # ---------------------------------------------------------------------------
 # Abstract base — backend-independent logic

source/isaaclab/isaaclab/actuators/newton/physx_runtime.py

@@ -17,7 +17,7 @@
 from .physx_wrapper import PhysxActuatorWrapper
 
 if TYPE_CHECKING:
-    from isaaclab.actuators import ActuatorCollection
+    from .. import ActuatorCollection
 
 
 class PhysxActuatorRuntime:

source/isaaclab/isaaclab/app/__init__.py

@@ -12,6 +12,6 @@
 
 """
 
-from isaaclab.utils.module import lazy_export
+from ..utils.module import lazy_export
 
 lazy_export()

source/isaaclab/isaaclab/app/app_launcher.py

@@ -33,12 +33,12 @@
 
 SimulationApp = getattr(isaacsim, "SimulationApp", None)
 
-from isaaclab.app.loading_screen import report_activity
-from isaaclab.app.logging_utils import apply_python_logging_level, resolve_python_logging_level
-from isaaclab.app.settings_manager import get_settings_manager, initialize_carb_settings
-from isaaclab.paths import ISAACLAB_ROOT
-from isaaclab.utils._device import set_cuda_device
-from isaaclab.utils.renderers import ISAAC_RTX_SHOW_ALL_PARTITIONS_BY_DEFAULT_SETTING
+from ..paths import ISAACLAB_ROOT
+from ..utils._device import set_cuda_device
+from ..utils.renderers import ISAAC_RTX_SHOW_ALL_PARTITIONS_BY_DEFAULT_SETTING
+from .loading_screen import report_activity
+from .logging_utils import apply_python_logging_level, resolve_python_logging_level
+from .settings_manager import get_settings_manager, initialize_carb_settings
 
 # import logger
 logger = logging.getLogger(__name__)
@@ -345,7 +345,7 @@ def __init__(self, launcher_args: argparse.Namespace | dict | None = None, **kwa
         # additional ``pip_prebundle`` or conflicting extension directories onto
         # ``sys.path`` during startup.  A second pass ensures pip-installed
         # packages still take priority over bundled copies.
-        from isaaclab import _deprioritize_prebundle_paths
+        from .. import _deprioritize_prebundle_paths
 
         _deprioritize_prebundle_paths()
 

source/isaaclab/isaaclab/app/sim_launcher.py

@@ -28,11 +28,11 @@
 from isaaclab_physx.physics import PhysxCfg
 from isaaclab_physx.renderers import IsaacRtxRendererCfg
 
-from isaaclab.app.logging_utils import apply_python_logging_level, resolve_python_logging_level
-from isaaclab.physics.physics_manager_cfg import PhysicsCfg, PhysxAutoCfg, _resolve_physx_auto_cfg
-from isaaclab.renderers.renderer_cfg import RendererCfg
-from isaaclab.sensors.camera.camera_cfg import CameraCfg
-from isaaclab.utils._device import set_cuda_device
+from ..physics.physics_manager_cfg import PhysicsCfg, PhysxAutoCfg, _resolve_physx_auto_cfg
+from ..renderers.renderer_cfg import RendererCfg
+from ..sensors.camera.camera_cfg import CameraCfg
+from ..utils._device import set_cuda_device
+from .logging_utils import apply_python_logging_level, resolve_python_logging_level
 
 logger = logging.getLogger(__name__)
 
@@ -47,7 +47,7 @@ def add_launcher_args(parser: argparse.ArgumentParser) -> None:
     Delegates to :meth:`AppLauncher.add_app_launcher_args` so that user scripts
     do not need to import ``AppLauncher`` directly.
     """
-    from isaaclab.app import AppLauncher
+    from . import AppLauncher
 
     AppLauncher.add_app_launcher_args(parser)
 
@@ -548,10 +548,10 @@ def launch_simulation(
     close_fn: Any = None
     if needs_kit:
         _ensure_isaac_sim_available()
-        from isaaclab.utils import has_kit
+        from ..utils import has_kit
 
         if not has_kit():
-            from isaaclab.app import AppLauncher
+            from . import AppLauncher
 
             app_launcher = AppLauncher(launcher_args)
             # AppLauncher may refine the device choice; propagate its final value,
@@ -563,7 +563,7 @@ def launch_simulation(
     elif visualizer_types or visualizer_explicit_none:
         # Kitless path: AppLauncher is skipped, so persist the visualizer selection in
         # SettingsManager so SimulationContext._get_cli_visualizer_types() can find it.
-        from isaaclab.app import AppLauncher
+        from . import AppLauncher
 
         disable_all = visualizer_explicit_none or "none" in visualizer_types
         base = vars(launcher_args) if isinstance(launcher_args, argparse.Namespace) else launcher_args
@@ -576,7 +576,7 @@ def launch_simulation(
     try:
         # The import stays after the Kit launch decision. With no selected profile this is a
         # no-op; with one, it installs process-wide OmniClient routing before user code runs.
-        from isaaclab.utils.assets import configure_storage_profile
+        from ..utils.assets import configure_storage_profile
 
         configure_storage_profile()
         yield physics_cfg
@@ -596,7 +596,7 @@ def launch_simulation(
 
 def _ensure_isaac_sim_available() -> None:
     """Raise ``SystemExit`` with an actionable hint when Isaac Sim / Kit is missing."""
-    from isaaclab.app import AppLauncher  # noqa: PLC0415
+    from . import AppLauncher  # noqa: PLC0415
 
     if AppLauncher.is_available():
         return

source/isaaclab/isaaclab/assets/__init__.py

@@ -37,6 +37,6 @@
 the corresponding actuator torques.
 """
 
-from isaaclab.utils.module import lazy_export
+from ..utils.module import lazy_export
 
 lazy_export()

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

@@ -5,6 +5,6 @@
 
 """Sub-module for rigid articulated assets."""
 
-from isaaclab.utils.module import lazy_export
+from ...utils.module import lazy_export
 
 lazy_export()

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

@@ -7,8 +7,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.backend_utils import FactoryBase
-
+from ...utils.backend_utils import FactoryBase
 from .base_articulation import BaseArticulation
 from .base_articulation_data import BaseArticulationData
 

source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py

@@ -8,9 +8,8 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Any
 
-from isaaclab.actuators import ActuatorBaseCfg
-from isaaclab.utils import configclass
-
+from ...actuators import ActuatorBaseCfg
+from ...utils import configclass
 from ..asset_base_cfg import AssetBaseCfg
 from .ordering import ArticulationOrderingConvention
 
@@ -122,7 +121,7 @@ def _post_spawn(self, stage: Any) -> None:
         """
         if self.actuators is MISSING:
             return
-        from isaaclab.sim.schemas.schemas_actuators import define_actuator_properties  # noqa: PLC0415
+        from ...sim.schemas.schemas_actuators import define_actuator_properties  # noqa: PLC0415
 
         # In InteractiveScene, articulated assets are often spawned first under
         # a template path (for example ``/World/template/Robot``) and cloned

source/isaaclab/isaaclab/assets/articulation/articulation_data.py

@@ -7,8 +7,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.backend_utils import FactoryBase
-
+from ...utils.backend_utils import FactoryBase
 from .base_articulation_data import BaseArticulationData
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/assets/articulation/base_articulation.py

@@ -27,9 +27,8 @@
 from .ordering_resolvers import _resolve_articulation_ordering_names
 
 if TYPE_CHECKING:
-    from isaaclab.actuators import ActuatorCollection
-    from isaaclab.utils.wrench_composer import WrenchComposer
-
+    from ...actuators import ActuatorCollection
+    from ...utils.wrench_composer import WrenchComposer
     from .articulation_cfg import ArticulationCfg
     from .base_articulation_data import BaseArticulationData
 
@@ -1684,7 +1683,7 @@ def _write_deprecated_native_actuator_gain(
         joint_ids: torch.Tensor,
     ) -> None:
         """Warn and forward a legacy native-controller gain write."""
-        from isaaclab.actuators.newton import write_group_parameter  # noqa: PLC0415
+        from ...actuators.newton import write_group_parameter  # noqa: PLC0415
 
         warnings.warn(
             f"{writer_name} is deprecated in 3.x and will be removed in 3.1. Use "

source/isaaclab/isaaclab/assets/articulation/base_articulation_data.py

@@ -11,7 +11,7 @@
 
 import warp as wp
 
-from isaaclab.utils.leapp import (
+from ...utils.leapp import (
     POSE6_ELEMENT_NAMES,
     POSE7_ELEMENT_NAMES,
     QUAT_XYZW_ELEMENT_NAMES,
@@ -24,14 +24,12 @@
     joint_names_resolver,
     leapp_tensor_semantics,
 )
-from isaaclab.utils.warp import ProxyArray
-
+from ...utils.warp import ProxyArray
 from . import ordering_kernels
 
 if TYPE_CHECKING:
-    from isaaclab.actuators import ActuatorCollection
-    from isaaclab.utils.buffers import TimestampedBufferWarp
-
+    from ...actuators import ActuatorCollection
+    from ...utils.buffers import TimestampedBufferWarp
     from .ordering import ArticulationNameMap
 
 

source/isaaclab/isaaclab/assets/articulation/ordering_kernels.py

@@ -40,7 +40,7 @@
 
 import warp as wp
 
-from isaaclab.utils.warp.index_kernel import IndexKernelDispatcher
+from ...utils.warp.index_kernel import IndexKernelDispatcher
 
 if TYPE_CHECKING:
     import torch