Registers direct environments to Gymnasium as string-style import (#3803)

# Description

This PR ensures all imports follows the string import style.
String import style avoid pulling of unnecessary packages that is
related to other environments, this pr makes sure all environments are
using this import.

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] 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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>

source/isaaclab_tasks/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.11.6"
+version = "0.11.7"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.11.7 (2025-10-22)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Ensured all imports follows the string import style instead of direct import of environment.
+
+
 0.11.6 (2025-10-23)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/direct/factory/__init__.py

@@ -6,8 +6,6 @@
 import gymnasium as gym
 
 from . import agents
-from .factory_env import FactoryEnv
-from .factory_env_cfg import FactoryTaskGearMeshCfg, FactoryTaskNutThreadCfg, FactoryTaskPegInsertCfg
 
 ##
 # Register Gym environments.
@@ -15,30 +13,30 @@ from .factory_env_cfg import FactoryTaskGearMeshCfg, FactoryTaskNutThreadCfg, Fa
 
 gym.register(
     id="Isaac-Factory-PegInsert-Direct-v0",
-    entry_point="isaaclab_tasks.direct.factory:FactoryEnv",
+    entry_point=f"{__name__}.factory_env:FactoryEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": FactoryTaskPegInsertCfg,
+        "env_cfg_entry_point": f"{__name__}.factory_env_cfg:FactoryTaskPegInsertCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
     },
 )
 
 gym.register(
     id="Isaac-Factory-GearMesh-Direct-v0",
-    entry_point="isaaclab_tasks.direct.factory:FactoryEnv",
+    entry_point=f"{__name__}.factory_env:FactoryEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": FactoryTaskGearMeshCfg,
+        "env_cfg_entry_point": f"{__name__}.factory_env_cfg:FactoryTaskGearMeshCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
     },
 )
 
 gym.register(
     id="Isaac-Factory-NutThread-Direct-v0",
-    entry_point="isaaclab_tasks.direct.factory:FactoryEnv",
+    entry_point=f"{__name__}.factory_env:FactoryEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": FactoryTaskNutThreadCfg,
+        "env_cfg_entry_point": f"{__name__}.factory_env_cfg:FactoryTaskNutThreadCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
     },
 )

source/isaaclab_tasks/isaaclab_tasks/direct/forge/__init__.py

@@ -6,8 +6,6 @@
 import gymnasium as gym
 
 from . import agents
-from .forge_env import ForgeEnv
-from .forge_env_cfg import ForgeTaskGearMeshCfg, ForgeTaskNutThreadCfg, ForgeTaskPegInsertCfg
 
 ##
 # Register Gym environments.
@@ -15,30 +13,30 @@ from .forge_env_cfg import ForgeTaskGearMeshCfg, ForgeTaskNutThreadCfg, ForgeTas
 
 gym.register(
     id="Isaac-Forge-PegInsert-Direct-v0",
-    entry_point="isaaclab_tasks.direct.forge:ForgeEnv",
+    entry_point=f"{__name__}.forge_env:ForgeEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ForgeTaskPegInsertCfg,
+        "env_cfg_entry_point": f"{__name__}.forge_env_cfg:ForgeTaskPegInsertCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
     },
 )
 
 gym.register(
     id="Isaac-Forge-GearMesh-Direct-v0",
-    entry_point="isaaclab_tasks.direct.forge:ForgeEnv",
+    entry_point=f"{__name__}.forge_env:ForgeEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ForgeTaskGearMeshCfg,
+        "env_cfg_entry_point": f"{__name__}.forge_env_cfg:ForgeTaskGearMeshCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
     },
 )
 
 gym.register(
     id="Isaac-Forge-NutThread-Direct-v0",
-    entry_point="isaaclab_tasks.direct.forge:ForgeEnv",
+    entry_point=f"{__name__}.forge_env:ForgeEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ForgeTaskNutThreadCfg,
+        "env_cfg_entry_point": f"{__name__}.forge_env_cfg:ForgeTaskNutThreadCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg_nut_thread.yaml",
     },
 )

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/__init__.py

@@ -3,7 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 import gymnasium as gym
-import os
 
 from . import agents
 
@@ -72,7 +71,7 @@ gym.register(
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": f"{__name__}.ik_rel_env_cfg:FrankaCubeLiftEnvCfg",
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc.json"),
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc.json",
     },
     disable_env_checker=True,
 )

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/__init__.py

@@ -4,23 +4,15 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import gymnasium as gym
-import os
 
-from . import (
-    agents,
-    exhaustpipe_gr1t2_pink_ik_env_cfg,
-    nutpour_gr1t2_pink_ik_env_cfg,
-    pickplace_gr1t2_env_cfg,
-    pickplace_gr1t2_waist_enabled_env_cfg,
-    pickplace_unitree_g1_inspire_hand_env_cfg,
-)
+from . import agents
 
 gym.register(
     id="Isaac-PickPlace-GR1T2-Abs-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": pickplace_gr1t2_env_cfg.PickPlaceGR1T2EnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
+        "env_cfg_entry_point": f"{__name__}.pickplace_gr1t2_env_cfg:PickPlaceGR1T2EnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
     },
     disable_env_checker=True,
 )
@@ -29,8 +21,8 @@ gym.register(
     id="Isaac-NutPour-GR1T2-Pink-IK-Abs-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": nutpour_gr1t2_pink_ik_env_cfg.NutPourGR1T2PinkIKEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_image_nut_pouring.json"),
+        "env_cfg_entry_point": f"{__name__}.nutpour_gr1t2_pink_ik_env_cfg:NutPourGR1T2PinkIKEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_image_nut_pouring.json",
     },
     disable_env_checker=True,
 )
@@ -39,8 +31,8 @@ gym.register(
     id="Isaac-ExhaustPipe-GR1T2-Pink-IK-Abs-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": exhaustpipe_gr1t2_pink_ik_env_cfg.ExhaustPipeGR1T2PinkIKEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_image_exhaust_pipe.json"),
+        "env_cfg_entry_point": f"{__name__}.exhaustpipe_gr1t2_pink_ik_env_cfg:ExhaustPipeGR1T2PinkIKEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_image_exhaust_pipe.json",
     },
     disable_env_checker=True,
 )
@@ -49,8 +41,8 @@ gym.register(
     id="Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": pickplace_gr1t2_waist_enabled_env_cfg.PickPlaceGR1T2WaistEnabledEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
+        "env_cfg_entry_point": f"{__name__}.pickplace_gr1t2_waist_enabled_env_cfg:PickPlaceGR1T2WaistEnabledEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
     },
     disable_env_checker=True,
 )
@@ -59,8 +51,8 @@ gym.register(
     id="Isaac-PickPlace-G1-InspireFTP-Abs-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": pickplace_unitree_g1_inspire_hand_env_cfg.PickPlaceG1InspireFTPEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
+        "env_cfg_entry_point": f"{__name__}.pickplace_unitree_g1_inspire_hand_env_cfg:PickPlaceG1InspireFTPEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
     },
     disable_env_checker=True,
 )

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py

@@ -3,21 +3,8 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 import gymnasium as gym
-import os
 
-from . import (
-    agents,
-    bin_stack_ik_rel_env_cfg,
-    stack_ik_abs_env_cfg,
-    stack_ik_rel_blueprint_env_cfg,
-    stack_ik_rel_env_cfg,
-    stack_ik_rel_env_cfg_skillgen,
-    stack_ik_rel_instance_randomize_env_cfg,
-    stack_ik_rel_visuomotor_cosmos_env_cfg,
-    stack_ik_rel_visuomotor_env_cfg,
-    stack_joint_pos_env_cfg,
-    stack_joint_pos_instance_randomize_env_cfg,
-)
+from . import agents
 
 ##
 # Register Gym environments.
@@ -31,7 +18,7 @@ gym.register(
     id="Isaac-Stack-Cube-Franka-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg,
+        "env_cfg_entry_point": f"{__name__}.stack_joint_pos_env_cfg:FrankaCubeStackEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -40,7 +27,9 @@ gym.register(
     id="Isaac-Stack-Cube-Instance-Randomize-Franka-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_joint_pos_instance_randomize_env_cfg.FrankaCubeStackInstanceRandomizeEnvCfg,
+        "env_cfg_entry_point": (
+            f"{__name__}.stack_joint_pos_instance_randomize_env_cfg:FrankaCubeStackInstanceRandomizeEnvCfg"
+        ),
     },
     disable_env_checker=True,
 )
@@ -54,8 +43,8 @@ gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_ik_rel_env_cfg.FrankaCubeStackEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
+        "env_cfg_entry_point": f"{__name__}.stack_ik_rel_env_cfg:FrankaCubeStackEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
     },
     disable_env_checker=True,
 )
@@ -64,8 +53,8 @@ gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_ik_rel_visuomotor_env_cfg.FrankaCubeStackVisuomotorEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_image_84.json"),
+        "env_cfg_entry_point": f"{__name__}.stack_ik_rel_visuomotor_env_cfg:FrankaCubeStackVisuomotorEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_image_84.json",
     },
     disable_env_checker=True,
 )
@@ -74,8 +63,10 @@ gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_ik_rel_visuomotor_cosmos_env_cfg.FrankaCubeStackVisuomotorCosmosEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_image_cosmos.json"),
+        "env_cfg_entry_point": (
+            f"{__name__}.stack_ik_rel_visuomotor_cosmos_env_cfg:FrankaCubeStackVisuomotorCosmosEnvCfg"
+        ),
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_image_cosmos.json",
     },
     disable_env_checker=True,
 )
@@ -84,8 +75,8 @@ gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Abs-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_ik_abs_env_cfg.FrankaCubeStackEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
+        "env_cfg_entry_point": f"{__name__}.stack_ik_abs_env_cfg:FrankaCubeStackEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
     },
     disable_env_checker=True,
 )
@@ -94,7 +85,9 @@ gym.register(
     id="Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_ik_rel_instance_randomize_env_cfg.FrankaCubeStackInstanceRandomizeEnvCfg,
+        "env_cfg_entry_point": (
+            f"{__name__}.stack_ik_rel_instance_randomize_env_cfg:FrankaCubeStackInstanceRandomizeEnvCfg"
+        ),
     },
     disable_env_checker=True,
 )
@@ -103,7 +96,7 @@ gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_ik_rel_blueprint_env_cfg.FrankaCubeStackBlueprintEnvCfg,
+        "env_cfg_entry_point": f"{__name__}.stack_ik_rel_blueprint_env_cfg:FrankaCubeStackBlueprintEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -112,8 +105,8 @@ gym.register(
     id="Isaac-Stack-Cube-Franka-IK-Rel-Skillgen-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": stack_ik_rel_env_cfg_skillgen.FrankaCubeStackSkillgenEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
+        "env_cfg_entry_point": f"{__name__}.stack_ik_rel_env_cfg_skillgen:FrankaCubeStackSkillgenEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
     },
     disable_env_checker=True,
 )
@@ -122,8 +115,8 @@ gym.register(
     id="Isaac-Stack-Cube-Bin-Franka-IK-Rel-Mimic-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": bin_stack_ik_rel_env_cfg.FrankaBinStackEnvCfg,
-        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
+        "env_cfg_entry_point": f"{__name__}.bin_stack_ik_rel_env_cfg:FrankaBinStackEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
     },
     disable_env_checker=True,
 )