HeeChan, Chung

It was late, but I did it like this. ```python import mujoco_py from mujoco_py import load_model_from_path, MjSim, MjViewer import os mj_path = mujoco_py.utils.discover_mujoco() xml_path = os.path.join(mj_path, 'model', 'humanoid.xml') model =...

Thanks for the suggestions! I tried using `field(default_factory=...)` for all attributes as shown below: ```python @configclass class SceneCfg(InteractiveSceneCfg): plane = field( default_factory=lambda: AssetBaseCfg(...) ) robot = field( default_factory=lambda: ArticulationCfg(...) )...

Additionally, after looking into the source code, I found that this behavior occurs because of the following line: https://github.com/isaac-sim/IsaacLab/blob/7de6d6fef9424c95fc68dc767af67ffbe0da6832/source/isaaclab/isaaclab/utils/configclass.py#L206-L209 This line inserts the annotated fields into the hints dictionary before...