Replaces hardcoded module paths with `__name__` dunder (#1357)

# Description

A minor change to automate where the config directory is located.

## Motivation

If user wants to copy these files to their own project, they shouldn't
have to change the paths in the registry.

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

@@ -15,7 +15,6 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.allegro_hand"
 inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
 
 gym.register(
@@ -23,7 +22,7 @@ gym.register(
     entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.allegro_hand_env_cfg:AllegroHandEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,14 +15,12 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.ant"
-
 gym.register(
     id="Isaac-Ant-Direct-v0",
-    entry_point=f"{task_entry}.ant_env:AntEnv",
+    entry_point=f"{__name__}.ant_env:AntEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.ant_env:AntEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,14 +15,12 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.anymal_c"
-
 gym.register(
     id="Isaac-Velocity-Flat-Anymal-C-Direct-v0",
-    entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
+    entry_point=f"{__name__}.anymal_c_env:AnymalCEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.anymal_c_env:AnymalCFlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.anymal_c_env_cfg: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",
@@ -31,10 +29,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Velocity-Rough-Anymal-C-Direct-v0",
-    entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
+    entry_point=f"{__name__}.anymal_c_env:AnymalCEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.anymal_c_env:AnymalCRoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.anymal_c_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",

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

@@ -8,150 +8,12 @@ from __future__ import annotations
 import gymnasium as gym
 import torch
 
-import omni.isaac.lab.envs.mdp as mdp
 import omni.isaac.lab.sim as sim_utils
-from omni.isaac.lab.assets import Articulation, ArticulationCfg
-from omni.isaac.lab.envs import DirectRLEnv, DirectRLEnvCfg
-from omni.isaac.lab.managers import EventTermCfg as EventTerm
-from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.scene import InteractiveSceneCfg
-from omni.isaac.lab.sensors import ContactSensor, ContactSensorCfg, RayCaster, RayCasterCfg, patterns
-from omni.isaac.lab.sim import SimulationCfg
-from omni.isaac.lab.terrains import TerrainImporterCfg
-from omni.isaac.lab.utils import configclass
+from omni.isaac.lab.assets import Articulation
+from omni.isaac.lab.envs import DirectRLEnv
+from omni.isaac.lab.sensors import ContactSensor, RayCaster
 
-##
-# Pre-defined configs
-##
-from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG  # isort: skip
-from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: skip
-
-
-@configclass
-class EventCfg:
-    """Configuration for randomization."""
-
-    physics_material = EventTerm(
-        func=mdp.randomize_rigid_body_material,
-        mode="startup",
-        params={
-            "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
-            "static_friction_range": (0.8, 0.8),
-            "dynamic_friction_range": (0.6, 0.6),
-            "restitution_range": (0.0, 0.0),
-            "num_buckets": 64,
-        },
-    )
-
-    add_base_mass = EventTerm(
-        func=mdp.randomize_rigid_body_mass,
-        mode="startup",
-        params={
-            "asset_cfg": SceneEntityCfg("robot", body_names="base"),
-            "mass_distribution_params": (-5.0, 5.0),
-            "operation": "add",
-        },
-    )
-
-
-@configclass
-class AnymalCFlatEnvCfg(DirectRLEnvCfg):
-    # env
-    episode_length_s = 20.0
-    decimation = 4
-    action_scale = 0.5
-    action_space = 12
-    observation_space = 48
-    state_space = 0
-
-    # simulation
-    sim: SimulationCfg = SimulationCfg(
-        dt=1 / 200,
-        render_interval=decimation,
-        disable_contact_processing=True,
-        physics_material=sim_utils.RigidBodyMaterialCfg(
-            friction_combine_mode="multiply",
-            restitution_combine_mode="multiply",
-            static_friction=1.0,
-            dynamic_friction=1.0,
-            restitution=0.0,
-        ),
-    )
-    terrain = TerrainImporterCfg(
-        prim_path="/World/ground",
-        terrain_type="plane",
-        collision_group=-1,
-        physics_material=sim_utils.RigidBodyMaterialCfg(
-            friction_combine_mode="multiply",
-            restitution_combine_mode="multiply",
-            static_friction=1.0,
-            dynamic_friction=1.0,
-            restitution=0.0,
-        ),
-        debug_vis=False,
-    )
-
-    # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True)
-
-    # events
-    events: EventCfg = EventCfg()
-
-    # robot
-    robot: ArticulationCfg = ANYMAL_C_CFG.replace(prim_path="/World/envs/env_.*/Robot")
-    contact_sensor: ContactSensorCfg = ContactSensorCfg(
-        prim_path="/World/envs/env_.*/Robot/.*", history_length=3, update_period=0.005, track_air_time=True
-    )
-
-    # reward scales
-    lin_vel_reward_scale = 1.0
-    yaw_rate_reward_scale = 0.5
-    z_vel_reward_scale = -2.0
-    ang_vel_reward_scale = -0.05
-    joint_torque_reward_scale = -2.5e-5
-    joint_accel_reward_scale = -2.5e-7
-    action_rate_reward_scale = -0.01
-    feet_air_time_reward_scale = 0.5
-    undersired_contact_reward_scale = -1.0
-    flat_orientation_reward_scale = -5.0
-
-
-@configclass
-class AnymalCRoughEnvCfg(AnymalCFlatEnvCfg):
-    # env
-    observation_space = 235
-
-    terrain = TerrainImporterCfg(
-        prim_path="/World/ground",
-        terrain_type="generator",
-        terrain_generator=ROUGH_TERRAINS_CFG,
-        max_init_terrain_level=9,
-        collision_group=-1,
-        physics_material=sim_utils.RigidBodyMaterialCfg(
-            friction_combine_mode="multiply",
-            restitution_combine_mode="multiply",
-            static_friction=1.0,
-            dynamic_friction=1.0,
-        ),
-        visual_material=sim_utils.MdlFileCfg(
-            mdl_path="{NVIDIA_NUCLEUS_DIR}/Materials/Base/Architecture/Shingles_01.mdl",
-            project_uvw=True,
-        ),
-        debug_vis=False,
-    )
-
-    # we add a height scanner for perceptive locomotion
-    height_scanner = RayCasterCfg(
-        prim_path="/World/envs/env_.*/Robot/base",
-        offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
-        attach_yaw_only=True,
-        pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
-        debug_vis=False,
-        mesh_prim_paths=["/World/ground"],
-    )
-
-    # reward scales (override from flat config)
-    flat_orientation_reward_scale = 0.0
+from .anymal_c_env_cfg import AnymalCFlatEnvCfg, AnymalCRoughEnvCfg
 
 
 class AnymalCEnv(DirectRLEnv):

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

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import omni.isaac.lab.envs.mdp as mdp
+import omni.isaac.lab.sim as sim_utils
+from omni.isaac.lab.assets import ArticulationCfg
+from omni.isaac.lab.envs import DirectRLEnvCfg
+from omni.isaac.lab.managers import EventTermCfg as EventTerm
+from omni.isaac.lab.managers import SceneEntityCfg
+from omni.isaac.lab.scene import InteractiveSceneCfg
+from omni.isaac.lab.sensors import ContactSensorCfg, RayCasterCfg, patterns
+from omni.isaac.lab.sim import SimulationCfg
+from omni.isaac.lab.terrains import TerrainImporterCfg
+from omni.isaac.lab.utils import configclass
+
+##
+# Pre-defined configs
+##
+from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: skip
+
+
+@configclass
+class EventCfg:
+    """Configuration for randomization."""
+
+    physics_material = EventTerm(
+        func=mdp.randomize_rigid_body_material,
+        mode="startup",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
+            "static_friction_range": (0.8, 0.8),
+            "dynamic_friction_range": (0.6, 0.6),
+            "restitution_range": (0.0, 0.0),
+            "num_buckets": 64,
+        },
+    )
+
+    add_base_mass = EventTerm(
+        func=mdp.randomize_rigid_body_mass,
+        mode="startup",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names="base"),
+            "mass_distribution_params": (-5.0, 5.0),
+            "operation": "add",
+        },
+    )
+
+
+@configclass
+class AnymalCFlatEnvCfg(DirectRLEnvCfg):
+    # env
+    episode_length_s = 20.0
+    decimation = 4
+    action_scale = 0.5
+    action_space = 12
+    observation_space = 48
+    state_space = 0
+
+    # simulation
+    sim: SimulationCfg = SimulationCfg(
+        dt=1 / 200,
+        render_interval=decimation,
+        disable_contact_processing=True,
+        physics_material=sim_utils.RigidBodyMaterialCfg(
+            friction_combine_mode="multiply",
+            restitution_combine_mode="multiply",
+            static_friction=1.0,
+            dynamic_friction=1.0,
+            restitution=0.0,
+        ),
+    )
+    terrain = TerrainImporterCfg(
+        prim_path="/World/ground",
+        terrain_type="plane",
+        collision_group=-1,
+        physics_material=sim_utils.RigidBodyMaterialCfg(
+            friction_combine_mode="multiply",
+            restitution_combine_mode="multiply",
+            static_friction=1.0,
+            dynamic_friction=1.0,
+            restitution=0.0,
+        ),
+        debug_vis=False,
+    )
+
+    # scene
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True)
+
+    # events
+    events: EventCfg = EventCfg()
+
+    # robot
+    robot: ArticulationCfg = ANYMAL_C_CFG.replace(prim_path="/World/envs/env_.*/Robot")
+    contact_sensor: ContactSensorCfg = ContactSensorCfg(
+        prim_path="/World/envs/env_.*/Robot/.*", history_length=3, update_period=0.005, track_air_time=True
+    )
+
+    # reward scales
+    lin_vel_reward_scale = 1.0
+    yaw_rate_reward_scale = 0.5
+    z_vel_reward_scale = -2.0
+    ang_vel_reward_scale = -0.05
+    joint_torque_reward_scale = -2.5e-5
+    joint_accel_reward_scale = -2.5e-7
+    action_rate_reward_scale = -0.01
+    feet_air_time_reward_scale = 0.5
+    undersired_contact_reward_scale = -1.0
+    flat_orientation_reward_scale = -5.0
+
+
+@configclass
+class AnymalCRoughEnvCfg(AnymalCFlatEnvCfg):
+    # env
+    observation_space = 235
+
+    terrain = TerrainImporterCfg(
+        prim_path="/World/ground",
+        terrain_type="generator",
+        terrain_generator=ROUGH_TERRAINS_CFG,
+        max_init_terrain_level=9,
+        collision_group=-1,
+        physics_material=sim_utils.RigidBodyMaterialCfg(
+            friction_combine_mode="multiply",
+            restitution_combine_mode="multiply",
+            static_friction=1.0,
+            dynamic_friction=1.0,
+        ),
+        visual_material=sim_utils.MdlFileCfg(
+            mdl_path="{NVIDIA_NUCLEUS_DIR}/Materials/Base/Architecture/Shingles_01.mdl",
+            project_uvw=True,
+        ),
+        debug_vis=False,
+    )
+
+    # we add a height scanner for perceptive locomotion
+    height_scanner = RayCasterCfg(
+        prim_path="/World/envs/env_.*/Robot/base",
+        offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
+        attach_yaw_only=True,
+        pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
+        debug_vis=False,
+        mesh_prim_paths=["/World/ground"],
+    )
+
+    # reward scales (override from flat config)
+    flat_orientation_reward_scale = 0.0

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

@@ -15,14 +15,12 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.cart_double_pendulum"
-
 gym.register(
     id="Isaac-Cart-Double-Pendulum-Direct-v0",
-    entry_point=f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnv",
+    entry_point=f"{__name__}.cart_double_pendulum_env:CartDoublePendulumEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,14 +15,12 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.cartpole"
-
 gym.register(
     id="Isaac-Cartpole-Direct-v0",
-    entry_point=f"{task_entry}.cartpole_env:CartpoleEnv",
+    entry_point=f"{__name__}.cartpole_env:CartpoleEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.cartpole_env:CartpoleEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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 +30,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Cartpole-RGB-Camera-Direct-v0",
-    entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
+    entry_point=f"{__name__}.cartpole_camera_env:CartpoleCameraEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env:CartpoleRGBCameraEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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 +41,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Cartpole-Depth-Camera-Direct-v0",
-    entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
+    entry_point=f"{__name__}.cartpole_camera_env:CartpoleCameraEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env:CartpoleDepthCameraEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -14,14 +14,12 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.franka_cabinet"
-
 gym.register(
     id="Isaac-Franka-Cabinet-Direct-v0",
-    entry_point=f"{task_entry}.franka_cabinet_env:FrankaCabinetEnv",
+    entry_point=f"{__name__}.franka_cabinet_env:FrankaCabinetEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.franka_cabinet_env:FrankaCabinetEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,14 +15,12 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.humanoid"
-
 gym.register(
     id="Isaac-Humanoid-Direct-v0",
-    entry_point=f"{task_entry}.humanoid_env:HumanoidEnv",
+    entry_point=f"{__name__}.humanoid_env:HumanoidEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.humanoid_env:HumanoidEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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/inhand_manipulation/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from .inhand_manipulation_env import InHandManipulationEnv

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/inhand_manipulation/inhand_manipulation_env.py

@@ -19,8 +19,8 @@ from omni.isaac.lab.sim.spawners.from_files import GroundPlaneCfg, spawn_ground_
 from omni.isaac.lab.utils.math import quat_conjugate, quat_from_angle_axis, quat_mul, sample_uniform, saturate
 
 if TYPE_CHECKING:
-    from omni.isaac.lab_tasks.direct.allegro_hand import AllegroHandEnvCfg
-    from omni.isaac.lab_tasks.direct.shadow_hand import ShadowHandEnvCfg
+    from omni.isaac.lab_tasks.direct.allegro_hand.allegro_hand_env_cfg import AllegroHandEnvCfg
+    from omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_env_cfg import ShadowHandEnvCfg
 
 
 class InHandManipulationEnv(DirectRLEnv):

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

@@ -15,14 +15,12 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.quadcopter"
-
 gym.register(
     id="Isaac-Quadcopter-Direct-v0",
-    entry_point=f"{task_entry}.quadcopter_env:QuadcopterEnv",
+    entry_point=f"{__name__}.quadcopter_env:QuadcopterEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.quadcopter_env:QuadcopterEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,7 +15,6 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.shadow_hand"
 inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
 
 gym.register(
@@ -23,7 +22,7 @@ gym.register(
     entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -35,7 +34,7 @@ gym.register(
     entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -47,7 +46,7 @@ gym.register(
     entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_lstm_cfg.yaml",
     },
 )
@@ -56,10 +55,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Vision-Direct-v0",
-    entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
+    entry_point=f"{__name__}.shadow_hand_vision_env:ShadowHandVisionEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -67,10 +66,10 @@ gym.register(
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0",
-    entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
+    entry_point=f"{__name__}.shadow_hand_vision_env:ShadowHandVisionEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnvPlayCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,14 +15,12 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.shadow_hand_over"
-
 gym.register(
     id="Isaac-Shadow-Hand-Over-Direct-v0",
-    entry_point=f"{task_entry}.shadow_hand_over_env:ShadowHandOverEnv",
+    entry_point=f"{__name__}.shadow_hand_over_env:ShadowHandOverEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.shadow_hand_over_env_cfg:ShadowHandOverEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,14 +15,12 @@ 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": f"{task_entry}.ant_env_cfg:AntEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,14 +15,12 @@ from . import agents
 # 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": f"{task_entry}.cartpole_env_cfg:CartpoleEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -35,7 +33,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
     },
 )
@@ -45,7 +43,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleDepthCameraEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.cartpole_camera_env_cfg:CartpoleDepthCameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
     },
 )
@@ -55,7 +53,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleResNet18CameraEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.cartpole_camera_env_cfg:CartpoleResNet18CameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_feature_ppo_cfg.yaml",
     },
 )
@@ -65,7 +63,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleTheiaTinyCameraEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -15,14 +15,12 @@ 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": f"{task_entry}.humanoid_env_cfg:HumanoidEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:UnitreeA1FlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -29,7 +27,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeA1FlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -40,7 +38,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeA1RoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -51,7 +49,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeA1RoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -10,14 +10,12 @@ 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": f"{task_entry}.flat_env_cfg:AnymalBFlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -28,7 +26,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalBFlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -39,7 +37,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalBRoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -50,7 +48,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalBRoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:AnymalCFlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -30,7 +28,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalCFlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -42,7 +40,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalCRoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -54,7 +52,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalCRoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:AnymalDFlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -29,7 +27,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalDFlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -40,7 +38,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalDRoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -51,7 +49,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalDRoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -29,7 +27,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -40,7 +38,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -51,7 +49,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,15 +11,12 @@ 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": f"{task_entry}.rough_env_cfg:G1RoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -31,7 +28,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:G1RoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -43,7 +40,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:G1FlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -55,7 +52,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:G1FlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:UnitreeGo1FlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -29,7 +27,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo1FlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -40,7 +38,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo1RoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -51,7 +49,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo1RoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:UnitreeGo2FlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -29,7 +27,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo2FlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -40,7 +38,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo2RoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -51,7 +49,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo2RoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,15 +11,12 @@ 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": f"{task_entry}.rough_env_cfg:H1RoughEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -31,7 +28,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:H1RoughEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -43,7 +40,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:H1FlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -55,7 +52,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:H1FlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:SpotFlatEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -29,7 +27,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:SpotFlatEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,8 +11,6 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.cabinet.config.franka"
-
 ##
 # Joint Position Control
 ##
@@ -21,7 +19,7 @@ gym.register(
     id="Isaac-Open-Drawer-Franka-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCabinetEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -33,7 +31,7 @@ gym.register(
     id="Isaac-Open-Drawer-Franka-Play-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCabinetEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -50,7 +48,7 @@ gym.register(
     id="Isaac-Open-Drawer-Franka-IK-Abs-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaCabinetEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.ik_abs_env_cfg:FrankaCabinetEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -63,7 +61,7 @@ gym.register(
     id="Isaac-Open-Drawer-Franka-IK-Rel-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaCabinetEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,8 +11,6 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.inhand.config.allegro_hand"
-
 ##
 # Full kinematic state observations.
 ##
@@ -22,7 +20,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -34,7 +32,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -50,7 +48,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -62,7 +60,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,8 +11,6 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.lift.config.franka"
-
 ##
 # Joint Position Control
 ##
@@ -21,7 +19,7 @@ gym.register(
     id="Isaac-Lift-Cube-Franka-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -34,7 +32,7 @@ gym.register(
     id="Isaac-Lift-Cube-Franka-Play-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -51,7 +49,7 @@ gym.register(
     id="Isaac-Lift-Cube-Franka-IK-Abs-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaCubeLiftEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.ik_abs_env_cfg:FrankaCubeLiftEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -60,7 +58,7 @@ gym.register(
     id="Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaTeddyBearLiftEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.ik_abs_env_cfg:FrankaTeddyBearLiftEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -73,7 +71,7 @@ gym.register(
     id="Isaac-Lift-Cube-Franka-IK-Rel-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaCubeLiftEnvCfg",
+        "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"),
     },
     disable_env_checker=True,

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

@@ -11,8 +11,6 @@ from . import agents
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.reach.config.franka"
-
 ##
 # Joint Position Control
 ##
@@ -22,7 +20,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaReachEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -34,7 +32,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaReachEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -50,7 +48,7 @@ gym.register(
     id="Isaac-Reach-Franka-IK-Abs-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaReachEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.ik_abs_env_cfg:FrankaReachEnvCfg",
     },
     disable_env_checker=True,
 )
@@ -63,7 +61,7 @@ gym.register(
     id="Isaac-Reach-Franka-IK-Rel-v0",
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaReachEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.joint_pos_env_cfg:UR10ReachEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
@@ -30,7 +28,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:UR10ReachEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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

@@ -11,14 +11,12 @@ 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": f"{task_entry}.navigation_env_cfg:NavigationEnvCfg",
+        "env_cfg_entry_point": f"{__name__}.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",
     },
@@ -29,7 +27,7 @@ gym.register(
     entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": f"{task_entry}.navigation_env_cfg:NavigationEnvCfg_PLAY",
+        "env_cfg_entry_point": f"{__name__}.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",
     },