Adds support for property attributes inside configclass (#953)

# Description

This MR adds support for property attributes in the
`omni.isaac.lab.utils.configclass` decorator. Earlier, the configclass
decorator failed to parse the property attributes correctly and made
them instance variables instead.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

source/extensions/omni.isaac.lab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.22.7"
+version = "0.22.8"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.22.8 (2024-09-06)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added support for property attributes in the :meth:``omni.isaac.lab.utils.configclass`` method.
+  Earlier, the configclass decorator failed to parse the property attributes correctly and made them
+  instance variables instead.
+
+
 0.22.7 (2024-09-05)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py

@@ -334,8 +334,10 @@ def _custom_post_init(obj):
             continue
         # get data member
         value = getattr(obj, key)
-        # duplicate data members
-        if not callable(value):
+        # check annotation
+        ann = obj.__class__.__dict__.get(key)
+        # duplicate data members that are mutable
+        if not callable(value) and not isinstance(ann, property):
             setattr(obj, key, deepcopy(value))
 
 
@@ -372,6 +374,7 @@ def _skippable_class_member(key: str, value: Any, hints: dict | None = None) ->
     * Manually-added special class functions: From :obj:`_CONFIGCLASS_METHODS`.
     * Members that are already present in the type annotations.
     * Functions bounded to class object or class.
+    * Properties bounded to class object.
 
     Args:
         key: The class member name.
@@ -401,6 +404,9 @@ def _skippable_class_member(key: str, value: Any, hints: dict | None = None) ->
         signature = inspect.signature(value)
         if "self" in signature.parameters or "cls" in signature.parameters:
             return True
+    # skip property methods
+    if isinstance(value, property):
+        return True
     # Otherwise, don't skip
     return False
 

source/extensions/omni.isaac.lab/test/utils/test_configclass.py

@@ -307,6 +307,14 @@ class ClassFunctionImplementedDemoCfg:
     def class_method(cls, value: int) -> ClassFunctionImplementedDemoCfg:
         return cls(a=value)
 
+    @property
+    def a_proxy(self) -> int:
+        return self.a
+
+    @a_proxy.setter
+    def a_proxy(self, value: int):
+        self.a = value
+
 
 """
 Dummy configuration: Nested dictionaries
@@ -642,7 +650,7 @@ class TestConfigClass(unittest.TestCase):
         self.assertEqual(cfg.a, 10)
 
     def test_class_function_impl_config(self):
-        """Tests having class and static function defined in the class instance."""
+        """Tests having class function defined in the class instance."""
         cfg = ClassFunctionImplementedDemoCfg()
 
         # check that the annotations are correct
@@ -659,6 +667,25 @@ class TestConfigClass(unittest.TestCase):
         # check value is correct
         self.assertEqual(new_cfg2.a, 20)
 
+    def test_class_property_impl_config(self):
+        """Tests having class property defined in the class instance."""
+        cfg = ClassFunctionImplementedDemoCfg()
+
+        # check that the annotations are correct
+        self.assertDictEqual(cfg.__annotations__, {"a": "int"})
+
+        # check all methods are callable
+        cfg.instance_method()
+
+        # check value is correct
+        self.assertEqual(cfg.a, 5)
+        self.assertEqual(cfg.a_proxy, 5)
+
+        # set through property
+        cfg.a_proxy = 10
+        self.assertEqual(cfg.a, 10)
+        self.assertEqual(cfg.a_proxy, 10)
+
     def test_dict_conversion_functions_config(self):
         """Tests conversion of config with functions into dictionary."""
         cfg = FunctionsDemoCfg()