Fix circular import in utils/warp by lazy-importing SceneEntityCfg

Move SceneEntityCfg import from module-level to inside
resolve_asset_cfg() to break the circular dependency chain:
utils.warp -> managers.scene_entity_cfg -> managers.manager_base -> utils.warp

Author: hujc7

source/isaaclab_experimental/isaaclab_experimental/utils/warp/utils.py

@@ -9,11 +9,12 @@
 from typing import TYPE_CHECKING
 
 import torch
-from isaaclab_experimental.managers.scene_entity_cfg import SceneEntityCfg
 
 import warp as wp
 
 if TYPE_CHECKING:
+    from isaaclab_experimental.managers.scene_entity_cfg import SceneEntityCfg
+
     from isaaclab.envs import ManagerBasedEnv
 
 
@@ -210,6 +211,10 @@ def zero_masked_2d(mask: wp.array(dtype=wp.bool), values: wp.array(dtype=wp.floa
 
 
 def resolve_asset_cfg(cfg: dict, env: ManagerBasedEnv) -> SceneEntityCfg:
+    # Lazy import to avoid circular dependency:
+    # utils.warp -> managers.scene_entity_cfg -> managers.manager_base -> utils.warp
+    from isaaclab_experimental.managers.scene_entity_cfg import SceneEntityCfg
+
     asset_cfg = None
 
     for value in cfg.values():