Improve omni.isaac.lab_tasks loading time (#1353)

# Description

Improve omni.isaac.lab_tasks loading time

(13th Gen Intel® Core™ i9-13950HX × 32)
* Before: 3.66 seconds
* After: 84 milliseconds

## Screenshots

Original (no changes)
![Screenshot from 2024-10-27
09-32-44](https://github.com/user-attachments/assets/2245d1c3-b0c8-47fc-8bc3-dd09c5e5303d)

Define task entry points as string when registering
![Screenshot from 2024-10-27
18-12-20](https://github.com/user-attachments/assets/574fbddd-cd77-4b78-83ea-99c21dbcb214)

Define task entry points as string when registering + Ignore `mdp`
directories during import.
![Screenshot from 2024-10-28
10-20-00](https://github.com/user-attachments/assets/6fe6744c-ad2c-42fc-b6fa-ae1966281cbb)


## Checklist

- [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

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---------
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.12"
+version = "0.10.13"
 
 # Description
 title = "Isaac Lab Environments"

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

 Changelog
 ---------
 
+0.10.13 (2024-10-30)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Defined the Gymnasium task entry points with configuration strings instead of class types.
+  This avoids unnecessary imports and improves the load types.
+* Blacklisted ``mdp`` directories during the recursive module search.
+
+
 0.10.12 (2024-10-28)
 ~~~~~~~~~~~~~~~~~~~~
 
@@ -10,6 +21,7 @@ Changed
 * Changed manager-based vision cartpole environment names from Isaac-Cartpole-RGB-Camera-v0
   and Isaac-Cartpole-Depth-Camera-v0 to Isaac-Cartpole-RGB-v0 and Isaac-Cartpole-Depth-v0
 
+
 0.10.11 (2024-10-28)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/__init__.py

@@ -25,6 +25,6 @@ __version__ = ISAACLAB_TASKS_METADATA["package"]["version"]
 from .utils import import_packages
 
 # The blacklist is used to prevent importing configs from sub-packages
-_BLACKLIST_PKGS = ["utils"]
+_BLACKLIST_PKGS = ["utils", ".mdp"]
 # Import all configs in this package
 import_packages(__name__, _BLACKLIST_PKGS)

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/__init__.py

@@ -10,18 +10,20 @@ Allegro Inhand Manipulation environment.
 import gymnasium as gym
 
 from . import agents
-from .allegro_hand_env_cfg import AllegroHandEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.allegro_hand"
+inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
+
 gym.register(
     id="Isaac-Repose-Cube-Allegro-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": AllegroHandEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.allegro_hand_env_cfg:AllegroHandEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroHandPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/__init__.py

@@ -10,18 +10,19 @@ Ant locomotion environment.
 import gymnasium as gym
 
 from . import agents
-from .ant_env import AntEnv, AntEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.ant"
+
 gym.register(
     id="Isaac-Ant-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.ant:AntEnv",
+    entry_point=f"{task_entry}.ant_env:AntEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": AntEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ant_env:AntEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AntPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/__init__.py

@@ -10,18 +10,19 @@ Ant locomotion environment.
 import gymnasium as gym
 
 from . import agents
-from .anymal_c_env import AnymalCEnv, AnymalCFlatEnvCfg, AnymalCRoughEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.anymal_c"
+
 gym.register(
     id="Isaac-Velocity-Flat-Anymal-C-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.anymal_c:AnymalCEnv",
+    entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": AnymalCFlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.anymal_c_env:AnymalCFlatEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
@@ -30,10 +31,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Velocity-Rough-Anymal-C-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.anymal_c:AnymalCEnv",
+    entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": AnymalCRoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.anymal_c_env:AnymalCRoughEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cart_double_pendulum/__init__.py

@@ -10,18 +10,19 @@ Inverted Double Pendulum on a Cart balancing environment.
 import gymnasium as gym
 
 from . import agents
-from .cart_double_pendulum_env import CartDoublePendulumEnv, CartDoublePendulumEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.cart_double_pendulum"
+
 gym.register(
     id="Isaac-Cart-Double-Pendulum-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.cart_double_pendulum:CartDoublePendulumEnv",
+    entry_point=f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartDoublePendulumEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
         "skrl_ippo_cfg_entry_point": f"{agents.__name__}:skrl_ippo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/__init__.py

@@ -10,19 +10,19 @@ Cartpole balancing environment.
 import gymnasium as gym
 
 from . import agents
-from .cartpole_camera_env import CartpoleCameraEnv, CartpoleDepthCameraEnvCfg, CartpoleRGBCameraEnvCfg
-from .cartpole_env import CartpoleEnv, CartpoleEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.cartpole"
+
 gym.register(
     id="Isaac-Cartpole-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleEnv",
+    entry_point=f"{task_entry}.cartpole_env:CartpoleEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cartpole_env:CartpoleEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -32,10 +32,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Cartpole-RGB-Camera-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleCameraEnv",
+    entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleRGBCameraEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env:CartpoleRGBCameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
     },
@@ -43,10 +43,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Cartpole-Depth-Camera-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleCameraEnv",
+    entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleDepthCameraEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env:CartpoleDepthCameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/__init__.py

@@ -9,18 +9,19 @@ Franka-Cabinet environment.
 import gymnasium as gym
 
 from . import agents
-from .franka_cabinet_env import FrankaCabinetEnv, FrankaCabinetEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.franka_cabinet"
+
 gym.register(
     id="Isaac-Franka-Cabinet-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.franka_cabinet:FrankaCabinetEnv",
+    entry_point=f"{task_entry}.franka_cabinet_env:FrankaCabinetEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": FrankaCabinetEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.franka_cabinet_env:FrankaCabinetEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaCabinetPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/__init__.py

@@ -10,18 +10,19 @@ Humanoid locomotion environment.
 import gymnasium as gym
 
 from . import agents
-from .humanoid_env import HumanoidEnv, HumanoidEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.humanoid"
+
 gym.register(
     id="Isaac-Humanoid-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.humanoid:HumanoidEnv",
+    entry_point=f"{task_entry}.humanoid_env:HumanoidEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": HumanoidEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.humanoid_env:HumanoidEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:HumanoidPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/__init__.py

@@ -10,18 +10,19 @@ Quacopter environment.
 import gymnasium as gym
 
 from . import agents
-from .quadcopter_env import QuadcopterEnv, QuadcopterEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.quadcopter"
+
 gym.register(
     id="Isaac-Quadcopter-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.quadcopter:QuadcopterEnv",
+    entry_point=f"{task_entry}.quadcopter_env:QuadcopterEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": QuadcopterEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.quadcopter_env:QuadcopterEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:QuadcopterPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/__init__.py

@@ -10,19 +10,20 @@ Shadow Hand environment.
 import gymnasium as gym
 
 from . import agents
-from .shadow_hand_env_cfg import ShadowHandEnvCfg, ShadowHandOpenAIEnvCfg
-from .shadow_hand_vision_env import ShadowHandVisionEnvCfg, ShadowHandVisionEnvPlayCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.shadow_hand"
+inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
+
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -31,10 +32,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandOpenAIEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_ff_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandAsymFFPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ff_ppo_cfg.yaml",
@@ -43,10 +44,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandOpenAIEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_lstm_cfg.yaml",
     },
 )
@@ -55,10 +56,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Vision-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_vision_env:ShadowHandVisionEnv",
+    entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandVisionEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandVisionFFPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_vision_cfg.yaml",
     },
@@ -66,10 +67,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_vision_env:ShadowHandVisionEnv",
+    entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandVisionEnvPlayCfg,
+        "env_cfg_entry_point": f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnvPlayCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandVisionFFPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_vision_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand_over/__init__.py

@@ -10,19 +10,19 @@ ShadowHand Over environment.
 import gymnasium as gym
 
 from . import agents
-from .shadow_hand_over_env import ShadowHandOverEnv
-from .shadow_hand_over_env_cfg import ShadowHandOverEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.shadow_hand_over"
+
 gym.register(
     id="Isaac-Shadow-Hand-Over-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand_over:ShadowHandOverEnv",
+    entry_point=f"{task_entry}.shadow_hand_over_env:ShadowHandOverEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandOverEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.shadow_hand_over_env_cfg:ShadowHandOverEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
         "skrl_ippo_cfg_entry_point": f"{agents.__name__}:skrl_ippo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/__init__.py

@@ -9,18 +9,20 @@ Ant locomotion environment (similar to OpenAI Gym Ant-v2).
 
 import gymnasium as gym
 
-from . import agents, ant_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.classic.ant"
+
 gym.register(
     id="Isaac-Ant-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ant_env_cfg.AntEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ant_env_cfg:AntEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AntPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/__init__.py

@@ -10,24 +10,19 @@ Cartpole balancing environment.
 import gymnasium as gym
 
 from . import agents
-from .cartpole_camera_env_cfg import (
-    CartpoleDepthCameraEnvCfg,
-    CartpoleResNet18CameraEnvCfg,
-    CartpoleRGBCameraEnvCfg,
-    CartpoleTheiaTinyCameraEnvCfg,
-)
-from .cartpole_env_cfg import CartpoleEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.classic.cartpole"
+
 gym.register(
     id="Isaac-Cartpole-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cartpole_env_cfg:CartpoleEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -40,7 +35,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleRGBCameraEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
     },
 )
@@ -50,7 +45,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleDepthCameraEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleDepthCameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
     },
 )
@@ -60,7 +55,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleResNet18CameraEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleResNet18CameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_feature_ppo_cfg.yaml",
     },
 )
@@ -70,7 +65,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleTheiaTinyCameraEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleTheiaTinyCameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_feature_ppo_cfg.yaml",
     },
 )

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/__init__.py

@@ -9,18 +9,20 @@ Humanoid locomotion environment (similar to OpenAI Gym Humanoid-v2).
 
 import gymnasium as gym
 
-from . import agents, humanoid_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.classic.humanoid"
+
 gym.register(
     id="Isaac-Humanoid-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": humanoid_env_cfg.HumanoidEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.humanoid_env_cfg:HumanoidEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:HumanoidPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.a1"
+
 gym.register(
     id="Isaac-Velocity-Flat-Unitree-A1-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeA1FlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -27,7 +29,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeA1FlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -38,7 +40,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeA1RoughEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -49,7 +51,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeA1RoughEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/__init__.py

@@ -4,18 +4,20 @@
 # SPDX-License-Identifier: BSD-3-Clause
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_b"
+
 gym.register(
     id="Isaac-Velocity-Flat-Anymal-B-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalBFlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -26,7 +28,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalBFlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -37,7 +39,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalBRoughEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -48,7 +50,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalBRoughEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c"
+
 gym.register(
     id="Isaac-Velocity-Flat-Anymal-C-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalCFlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCFlatPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
@@ -28,7 +30,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalCFlatEnvCfg_PLAY",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
@@ -40,7 +42,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalCRoughEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
@@ -52,7 +54,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalCRoughEnvCfg_PLAY",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_d"
+
 gym.register(
     id="Isaac-Velocity-Flat-Anymal-D-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalDFlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -27,7 +29,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalDFlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -38,7 +40,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalDRoughEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -49,7 +51,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalDRoughEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/cassie/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.cassie"
+
 gym.register(
     id="Isaac-Velocity-Flat-Cassie-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -27,7 +29,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -38,7 +40,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -49,7 +51,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieRoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/__init__.py

@@ -5,19 +5,21 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.g1"
+
 
 gym.register(
     id="Isaac-Velocity-Rough-G1-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:G1RoughEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -29,7 +31,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:G1RoughEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -41,7 +43,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:G1FlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -53,7 +55,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:G1FlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.go1"
+
 gym.register(
     id="Isaac-Velocity-Flat-Unitree-Go1-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo1FlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo1FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -27,7 +29,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo1FlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo1FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -38,7 +40,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo1RoughEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo1RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -49,7 +51,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo1RoughEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo1RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.go2"
+
 gym.register(
     id="Isaac-Velocity-Flat-Unitree-Go2-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo2FlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo2FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -27,7 +29,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo2FlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo2FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -38,7 +40,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo2RoughEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo2RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -49,7 +51,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo2RoughEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo2RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/__init__.py

@@ -5,19 +5,21 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg, rough_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.h1"
+
 
 gym.register(
     id="Isaac-Velocity-Rough-H1-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.H1RoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:H1RoughEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -29,7 +31,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": rough_env_cfg.H1RoughEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:H1RoughEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1RoughPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
     },
@@ -41,7 +43,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.H1FlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:H1FlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -53,7 +55,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.H1FlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:H1FlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1FlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, flat_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot"
+
 gym.register(
     id="Isaac-Velocity-Flat-Spot-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.SpotFlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:SpotFlatEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -27,7 +29,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": flat_env_cfg.SpotFlatEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:SpotFlatEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/__init__.py

@@ -5,12 +5,14 @@
 
 import gymnasium as gym
 
-from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.cabinet.config.franka"
+
 ##
 # Joint Position Control
 ##
@@ -19,7 +21,7 @@ gym.register(
     id="Isaac-Open-Drawer-Franka-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCabinetEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CabinetPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -31,7 +33,7 @@ gym.register(
     id="Isaac-Open-Drawer-Franka-Play-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCabinetEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CabinetPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -48,7 +50,7 @@ gym.register(
     id="Isaac-Open-Drawer-Franka-IK-Abs-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": ik_abs_env_cfg.FrankaCabinetEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaCabinetEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -61,7 +63,7 @@ gym.register(
     id="Isaac-Open-Drawer-Franka-IK-Rel-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": ik_rel_env_cfg.FrankaCabinetEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaCabinetEnvCfg",
     },
     disable_env_checker=True,
 )

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/__init__.py

@@ -5,12 +5,14 @@
 
 import gymnasium as gym
 
-from . import agents, allegro_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.inhand.config.allegro_hand"
+
 ##
 # Full kinematic state observations.
 ##
@@ -20,7 +22,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubePPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -32,7 +34,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubePPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -48,7 +50,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubeNoVelObsPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -60,7 +62,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubeNoVelObsPPORunnerCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/__init__.py

@@ -5,12 +5,14 @@
 import gymnasium as gym
 import os
 
-from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.lift.config.franka"
+
 ##
 # Joint Position Control
 ##
@@ -19,7 +21,7 @@ gym.register(
     id="Isaac-Lift-Cube-Franka-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
@@ -32,7 +34,7 @@ gym.register(
     id="Isaac-Lift-Cube-Franka-Play-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
@@ -49,7 +51,7 @@ gym.register(
     id="Isaac-Lift-Cube-Franka-IK-Abs-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": ik_abs_env_cfg.FrankaCubeLiftEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaCubeLiftEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -58,7 +60,7 @@ gym.register(
     id="Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": ik_abs_env_cfg.FrankaTeddyBearLiftEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaTeddyBearLiftEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -71,7 +73,7 @@ gym.register(
     id="Isaac-Lift-Cube-Franka-IK-Rel-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": ik_rel_env_cfg.FrankaCubeLiftEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaCubeLiftEnvCfg",
         "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc.json"),
     },
     disable_env_checker=True,

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/__init__.py

@@ -5,12 +5,14 @@
 
 import gymnasium as gym
 
-from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.reach.config.franka"
+
 ##
 # Joint Position Control
 ##
@@ -20,7 +22,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": joint_pos_env_cfg.FrankaReachEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaReachEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaReachPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -32,7 +34,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": joint_pos_env_cfg.FrankaReachEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaReachEnvCfg_PLAY",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaReachPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -48,7 +50,7 @@ gym.register(
     id="Isaac-Reach-Franka-IK-Abs-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": ik_abs_env_cfg.FrankaReachEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaReachEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -61,7 +63,7 @@ gym.register(
     id="Isaac-Reach-Franka-IK-Rel-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": ik_rel_env_cfg.FrankaReachEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaReachEnvCfg",
     },
     disable_env_checker=True,
 )

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/ur_10/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, joint_pos_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.reach.config.ur_10"
+
 gym.register(
     id="Isaac-Reach-UR10-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": joint_pos_env_cfg.UR10ReachEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:UR10ReachEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10ReachPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
@@ -28,7 +30,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": joint_pos_env_cfg.UR10ReachEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:UR10ReachEnvCfg_PLAY",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10ReachPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/__init__.py

@@ -5,18 +5,20 @@
 
 import gymnasium as gym
 
-from . import agents, navigation_env_cfg
+from . import agents
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.manager_based.navigation.config.anymal_c"
+
 gym.register(
     id="Isaac-Navigation-Flat-Anymal-C-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": navigation_env_cfg.NavigationEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.navigation_env_cfg:NavigationEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:NavigationEnvPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },
@@ -27,7 +29,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": navigation_env_cfg.NavigationEnvCfg_PLAY,
+        "env_cfg_entry_point": f"{task_entry}.navigation_env_cfg:NavigationEnvCfg_PLAY",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:NavigationEnvPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
     },