Fixes importing rsl_rl configs (#789)

# Description

Fixes importing rsl_rl configs

## 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`
- [ ] 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
- [ ] 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_tasks/omni/isaac/lab_tasks/direct/allegro_hand/__init__.py

@@ -23,6 +23,6 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroHandPPORunnerCfg",
     },
 )

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

@@ -23,7 +23,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "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",
     },
 )
@@ -35,7 +35,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "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/cartpole/__init__.py

@@ -24,7 +24,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
         "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
     },

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

@@ -22,7 +22,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "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

@@ -23,7 +23,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "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

@@ -23,7 +23,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "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

@@ -23,7 +23,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandPPORunnerCfg",
     },
 )
 
@@ -34,7 +34,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandAsymFFPPORunnerCfg",
     },
 )
 

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

@@ -21,7 +21,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": ant_env_cfg.AntEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AntPPORunnerCfg",
+        "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",
         "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",

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

@@ -23,7 +23,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
         "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
     },

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

@@ -21,7 +21,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": humanoid_env_cfg.HumanoidEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.HumanoidPPORunnerCfg",
+        "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",
         "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",

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

@@ -17,7 +17,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeA1FlatPPORunnerCfg",
+        "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",
     },
 )
@@ -28,7 +28,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeA1FlatPPORunnerCfg",
+        "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",
     },
 )
@@ -39,7 +39,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeA1RoughPPORunnerCfg",
+        "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",
     },
 )
@@ -50,7 +50,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeA1RoughPPORunnerCfg",
+        "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

@@ -16,7 +16,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalBFlatPPORunnerCfg",
+        "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",
     },
 )
@@ -27,7 +27,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalBFlatPPORunnerCfg",
+        "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",
     },
 )
@@ -38,7 +38,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalBRoughPPORunnerCfg",
+        "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",
     },
 )
@@ -49,7 +49,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalBRoughPPORunnerCfg",
+        "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

@@ -17,7 +17,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalCFlatPPORunnerCfg",
+        "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",
     },
@@ -30,7 +30,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "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",
     },
 )
@@ -42,7 +42,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "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",
     },
 )
@@ -54,7 +54,7 @@ gym.register(
     kwargs={
         "env_cfg_entry_point": 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",
+        "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

@@ -17,7 +17,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalDFlatPPORunnerCfg",
+        "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",
     },
 )
@@ -28,7 +28,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalDFlatPPORunnerCfg",
+        "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",
     },
 )
@@ -39,7 +39,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalDRoughPPORunnerCfg",
+        "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",
     },
 )
@@ -50,7 +50,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AnymalDRoughPPORunnerCfg",
+        "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

@@ -17,7 +17,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.CassieFlatPPORunnerCfg",
+        "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",
     },
 )
@@ -28,7 +28,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.CassieFlatPPORunnerCfg",
+        "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",
     },
 )
@@ -39,7 +39,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.CassieRoughPPORunnerCfg",
+        "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",
     },
 )
@@ -50,7 +50,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.CassieRoughPPORunnerCfg",
+        "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

@@ -18,7 +18,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.G1RoughPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1RoughPPORunnerCfg",
     },
 )
 
@@ -29,7 +29,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.G1RoughPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1RoughPPORunnerCfg",
     },
 )
 
@@ -40,7 +40,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.G1FlatPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1FlatPPORunnerCfg",
     },
 )
 
@@ -51,6 +51,6 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.G1FlatPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1FlatPPORunnerCfg",
     },
 )

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

@@ -17,7 +17,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeGo1FlatPPORunnerCfg",
+        "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",
     },
 )
@@ -28,7 +28,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeGo1FlatPPORunnerCfg",
+        "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",
     },
 )
@@ -39,7 +39,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeGo1RoughPPORunnerCfg",
+        "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",
     },
 )
@@ -50,7 +50,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeGo1RoughPPORunnerCfg",
+        "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

@@ -17,7 +17,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeGo2FlatPPORunnerCfg",
+        "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",
     },
 )
@@ -28,7 +28,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeGo2FlatPPORunnerCfg",
+        "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",
     },
 )
@@ -39,7 +39,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeGo2RoughPPORunnerCfg",
+        "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",
     },
 )
@@ -50,7 +50,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.UnitreeGo2RoughPPORunnerCfg",
+        "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

@@ -18,7 +18,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.H1RoughEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.H1RoughPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1RoughPPORunnerCfg",
     },
 )
 
@@ -29,7 +29,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.H1RoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.H1RoughPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1RoughPPORunnerCfg",
     },
 )
 
@@ -40,7 +40,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.H1FlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.H1FlatPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1FlatPPORunnerCfg",
     },
 )
 
@@ -51,6 +51,6 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.H1FlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.H1FlatPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1FlatPPORunnerCfg",
     },
 )

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

@@ -17,7 +17,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.SpotFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.SpotFlatPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg",
     },
 )
 
@@ -27,6 +27,6 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.SpotFlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.SpotFlatPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg",
     },
 )

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

@@ -20,7 +20,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.CabinetPPORunnerCfg",
+        "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",
     },
@@ -32,7 +32,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.CabinetPPORunnerCfg",
+        "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",
     },

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

@@ -21,7 +21,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AllegroCubePPORunnerCfg",
+        "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",
     },
@@ -33,7 +33,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AllegroCubePPORunnerCfg",
+        "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",
     },
@@ -49,7 +49,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AllegroCubeNoVelObsPPORunnerCfg",
+        "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",
     },
@@ -61,7 +61,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AllegroCubeNoVelObsPPORunnerCfg",
+        "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

@@ -20,7 +20,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.LiftCubePPORunnerCfg",
+        "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 +32,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.LiftCubePPORunnerCfg",
+        "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",
     },

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

@@ -17,7 +17,7 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": navigation_env_cfg.NavigationEnvCfg,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.NavigationEnvPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:NavigationEnvPPORunnerCfg",
     },
 )
 
@@ -27,6 +27,6 @@ gym.register(
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": navigation_env_cfg.NavigationEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.NavigationEnvPPORunnerCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:NavigationEnvPPORunnerCfg",
     },
 )

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rl_games_wrapper.py

@@ -23,7 +23,7 @@ import omni.usd
 from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
 
 import omni.isaac.lab_tasks  # noqa: F401
-from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg
+from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry, parse_env_cfg
 from omni.isaac.lab_tasks.utils.wrappers.rl_games import RlGamesVecEnvWrapper
 
 
@@ -59,7 +59,7 @@ class TestRlGamesVecEnvWrapper(unittest.TestCase):
                 omni.usd.get_context().new_stage()
                 # parse configuration
                 env_cfg: ManagerBasedRLEnvCfg = parse_env_cfg(task_name, device=self.device, num_envs=self.num_envs)
-
+                agent_cfg = load_cfg_from_registry(task_name, "rl_games_cfg_entry_point")  # noqa: F841
                 # create environment
                 env = gym.make(task_name, cfg=env_cfg)
                 # wrap environment

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rsl_rl_wrapper.py

@@ -23,7 +23,7 @@ import omni.usd
 from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
 
 import omni.isaac.lab_tasks  # noqa: F401
-from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg
+from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry, parse_env_cfg
 from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper
 
 
@@ -59,7 +59,7 @@ class TestRslRlVecEnvWrapper(unittest.TestCase):
                 omni.usd.get_context().new_stage()
                 # parse configuration
                 env_cfg: ManagerBasedRLEnvCfg = parse_env_cfg(task_name, device=self.device, num_envs=self.num_envs)
-
+                agent_cfg = load_cfg_from_registry(task_name, "rsl_rl_cfg_entry_point")  # noqa: F841
                 # create environment
                 env = gym.make(task_name, cfg=env_cfg)
                 # wrap environment

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_sb3_wrapper.py

@@ -24,7 +24,7 @@ import omni.usd
 from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
 
 import omni.isaac.lab_tasks  # noqa: F401
-from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg
+from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry, parse_env_cfg
 from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper
 
 
@@ -60,7 +60,7 @@ class TestStableBaselines3VecEnvWrapper(unittest.TestCase):
                 omni.usd.get_context().new_stage()
                 # parse configuration
                 env_cfg: ManagerBasedRLEnvCfg = parse_env_cfg(task_name, device=self.device, num_envs=self.num_envs)
-
+                agent_cfg = load_cfg_from_registry(task_name, "sb3_cfg_entry_point")  # noqa: F841
                 # create environment
                 env = gym.make(task_name, cfg=env_cfg)
                 # wrap environment

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_skrl_wrapper.py

@@ -23,7 +23,7 @@ import omni.usd
 from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
 
 import omni.isaac.lab_tasks  # noqa: F401
-from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg
+from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry, parse_env_cfg
 from omni.isaac.lab_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper
 
 
@@ -59,7 +59,7 @@ class TestSKRLVecEnvWrapper(unittest.TestCase):
                 omni.usd.get_context().new_stage()
                 # parse configuration
                 env_cfg: ManagerBasedRLEnvCfg = parse_env_cfg(task_name, device=self.device, num_envs=self.num_envs)
-
+                agent_cfg = load_cfg_from_registry(task_name, "skrl_cfg_entry_point")  # noqa: F841
                 # create environment
                 env = gym.make(task_name, cfg=env_cfg)
                 # wrap environment