diff --git a/source/isaaclab_tasks/config/extension.toml b/source/isaaclab_tasks/config/extension.toml index c1fd2d9226f..4d13088bfe0 100644 --- a/source/isaaclab_tasks/config/extension.toml +++ b/source/isaaclab_tasks/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.11.1" +version = "0.11.2" # Description title = "Isaac Lab Environments" diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst index 97170ffb6d7..7016a98a162 100644 --- a/source/isaaclab_tasks/docs/CHANGELOG.rst +++ b/source/isaaclab_tasks/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.11.2 (2025-10-22) +~~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Ensured all imports follows the string import style instead of direct import of environment. + + 0.11.1 (2025-09-24) ~~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/factory/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/direct/factory/__init__.py index 70fa6f3c7d5..25828a45622 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/factory/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/factory/__init__.py @@ -6,8 +6,6 @@ import gymnasium as gym from . import agents -from .factory_env import FactoryEnv -from .factory_env_cfg import FactoryTaskGearMeshCfg, FactoryTaskNutThreadCfg, FactoryTaskPegInsertCfg ## # Register Gym environments. @@ -15,30 +13,30 @@ gym.register( id="Isaac-Factory-PegInsert-Direct-v0", - entry_point="isaaclab_tasks.direct.factory:FactoryEnv", + entry_point=f"{__name__}.factory_env:FactoryEnv", disable_env_checker=True, kwargs={ - "env_cfg_entry_point": FactoryTaskPegInsertCfg, + "env_cfg_entry_point": f"{__name__}.factory_env_cfg:FactoryTaskPegInsertCfg", "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", }, ) gym.register( id="Isaac-Factory-GearMesh-Direct-v0", - entry_point="isaaclab_tasks.direct.factory:FactoryEnv", + entry_point=f"{__name__}.factory_env:FactoryEnv", disable_env_checker=True, kwargs={ - "env_cfg_entry_point": FactoryTaskGearMeshCfg, + "env_cfg_entry_point": f"{__name__}.factory_env_cfg:FactoryTaskGearMeshCfg", "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", }, ) gym.register( id="Isaac-Factory-NutThread-Direct-v0", - entry_point="isaaclab_tasks.direct.factory:FactoryEnv", + entry_point=f"{__name__}.factory_env:FactoryEnv", disable_env_checker=True, kwargs={ - "env_cfg_entry_point": FactoryTaskNutThreadCfg, + "env_cfg_entry_point": f"{__name__}.factory_env_cfg:FactoryTaskNutThreadCfg", "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", }, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/forge/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/direct/forge/__init__.py index 72af6221dc4..0016fd20d26 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/forge/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/forge/__init__.py @@ -6,8 +6,6 @@ import gymnasium as gym from . import agents -from .forge_env import ForgeEnv -from .forge_env_cfg import ForgeTaskGearMeshCfg, ForgeTaskNutThreadCfg, ForgeTaskPegInsertCfg ## # Register Gym environments. @@ -15,30 +13,30 @@ gym.register( id="Isaac-Forge-PegInsert-Direct-v0", - entry_point="isaaclab_tasks.direct.forge:ForgeEnv", + entry_point=f"{__name__}.forge_env:ForgeEnv", disable_env_checker=True, kwargs={ - "env_cfg_entry_point": ForgeTaskPegInsertCfg, + "env_cfg_entry_point": f"{__name__}.forge_env_cfg:ForgeTaskPegInsertCfg", "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", }, ) gym.register( id="Isaac-Forge-GearMesh-Direct-v0", - entry_point="isaaclab_tasks.direct.forge:ForgeEnv", + entry_point=f"{__name__}.forge_env:ForgeEnv", disable_env_checker=True, kwargs={ - "env_cfg_entry_point": ForgeTaskGearMeshCfg, + "env_cfg_entry_point": f"{__name__}.forge_env_cfg:ForgeTaskGearMeshCfg", "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", }, ) gym.register( id="Isaac-Forge-NutThread-Direct-v0", - entry_point="isaaclab_tasks.direct.forge:ForgeEnv", + entry_point=f"{__name__}.forge_env:ForgeEnv", disable_env_checker=True, kwargs={ - "env_cfg_entry_point": ForgeTaskNutThreadCfg, + "env_cfg_entry_point": f"{__name__}.forge_env_cfg:ForgeTaskNutThreadCfg", "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg_nut_thread.yaml", }, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/__init__.py index be28a9c575e..6dcc82402b9 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/__init__.py @@ -3,7 +3,6 @@ # # SPDX-License-Identifier: BSD-3-Clause import gymnasium as gym -import os from . import agents @@ -72,7 +71,7 @@ entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ "env_cfg_entry_point": f"{__name__}.ik_rel_env_cfg:FrankaCubeLiftEnvCfg", - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc.json"), + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc.json", }, disable_env_checker=True, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/__init__.py index ff72798e0f4..9da7583433e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/__init__.py @@ -4,22 +4,15 @@ # SPDX-License-Identifier: BSD-3-Clause import gymnasium as gym -import os -from . import ( - agents, - exhaustpipe_gr1t2_pink_ik_env_cfg, - nutpour_gr1t2_pink_ik_env_cfg, - pickplace_gr1t2_env_cfg, - pickplace_gr1t2_waist_enabled_env_cfg, -) +from . import agents gym.register( id="Isaac-PickPlace-GR1T2-Abs-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": pickplace_gr1t2_env_cfg.PickPlaceGR1T2EnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"), + "env_cfg_entry_point": f"{__name__}.pickplace_gr1t2_env_cfg:PickPlaceGR1T2EnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json", }, disable_env_checker=True, ) @@ -28,8 +21,8 @@ id="Isaac-NutPour-GR1T2-Pink-IK-Abs-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": nutpour_gr1t2_pink_ik_env_cfg.NutPourGR1T2PinkIKEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_image_nut_pouring.json"), + "env_cfg_entry_point": f"{__name__}.nutpour_gr1t2_pink_ik_env_cfg:NutPourGR1T2PinkIKEnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_image_nut_pouring.json", }, disable_env_checker=True, ) @@ -38,8 +31,8 @@ id="Isaac-ExhaustPipe-GR1T2-Pink-IK-Abs-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": exhaustpipe_gr1t2_pink_ik_env_cfg.ExhaustPipeGR1T2PinkIKEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_image_exhaust_pipe.json"), + "env_cfg_entry_point": f"{__name__}.exhaustpipe_gr1t2_pink_ik_env_cfg:ExhaustPipeGR1T2PinkIKEnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_image_exhaust_pipe.json", }, disable_env_checker=True, ) @@ -48,8 +41,8 @@ id="Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": pickplace_gr1t2_waist_enabled_env_cfg.PickPlaceGR1T2WaistEnabledEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"), + "env_cfg_entry_point": f"{__name__}.pickplace_gr1t2_waist_enabled_env_cfg:PickPlaceGR1T2WaistEnabledEnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json", }, disable_env_checker=True, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py index 0e3db6206b7..18496397e04 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py @@ -3,21 +3,8 @@ # # SPDX-License-Identifier: BSD-3-Clause import gymnasium as gym -import os -from . import ( - agents, - bin_stack_ik_rel_env_cfg, - stack_ik_abs_env_cfg, - stack_ik_rel_blueprint_env_cfg, - stack_ik_rel_env_cfg, - stack_ik_rel_env_cfg_skillgen, - stack_ik_rel_instance_randomize_env_cfg, - stack_ik_rel_visuomotor_cosmos_env_cfg, - stack_ik_rel_visuomotor_env_cfg, - stack_joint_pos_env_cfg, - stack_joint_pos_instance_randomize_env_cfg, -) +from . import agents ## # Register Gym environments. @@ -31,7 +18,7 @@ id="Isaac-Stack-Cube-Franka-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg, + "env_cfg_entry_point": f"{__name__}.stack_joint_pos_env_cfg:FrankaCubeStackEnvCfg", }, disable_env_checker=True, ) @@ -40,7 +27,9 @@ id="Isaac-Stack-Cube-Instance-Randomize-Franka-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_joint_pos_instance_randomize_env_cfg.FrankaCubeStackInstanceRandomizeEnvCfg, + "env_cfg_entry_point": ( + f"{__name__}.stack_joint_pos_instance_randomize_env_cfg:FrankaCubeStackInstanceRandomizeEnvCfg" + ), }, disable_env_checker=True, ) @@ -54,8 +43,8 @@ id="Isaac-Stack-Cube-Franka-IK-Rel-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_ik_rel_env_cfg.FrankaCubeStackEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"), + "env_cfg_entry_point": f"{__name__}.stack_ik_rel_env_cfg:FrankaCubeStackEnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json", }, disable_env_checker=True, ) @@ -64,8 +53,8 @@ id="Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_ik_rel_visuomotor_env_cfg.FrankaCubeStackVisuomotorEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_image_84.json"), + "env_cfg_entry_point": f"{__name__}.stack_ik_rel_visuomotor_env_cfg:FrankaCubeStackVisuomotorEnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_image_84.json", }, disable_env_checker=True, ) @@ -74,8 +63,10 @@ id="Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_ik_rel_visuomotor_cosmos_env_cfg.FrankaCubeStackVisuomotorCosmosEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_image_cosmos.json"), + "env_cfg_entry_point": ( + f"{__name__}.stack_ik_rel_visuomotor_cosmos_env_cfg:FrankaCubeStackVisuomotorCosmosEnvCfg" + ), + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_image_cosmos.json", }, disable_env_checker=True, ) @@ -84,8 +75,8 @@ id="Isaac-Stack-Cube-Franka-IK-Abs-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_ik_abs_env_cfg.FrankaCubeStackEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"), + "env_cfg_entry_point": f"{__name__}.stack_ik_abs_env_cfg:FrankaCubeStackEnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json", }, disable_env_checker=True, ) @@ -94,7 +85,9 @@ id="Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_ik_rel_instance_randomize_env_cfg.FrankaCubeStackInstanceRandomizeEnvCfg, + "env_cfg_entry_point": ( + f"{__name__}.stack_ik_rel_instance_randomize_env_cfg:FrankaCubeStackInstanceRandomizeEnvCfg" + ), }, disable_env_checker=True, ) @@ -103,7 +96,7 @@ id="Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_ik_rel_blueprint_env_cfg.FrankaCubeStackBlueprintEnvCfg, + "env_cfg_entry_point": f"{__name__}.stack_ik_rel_blueprint_env_cfg:FrankaCubeStackBlueprintEnvCfg", }, disable_env_checker=True, ) @@ -112,8 +105,8 @@ id="Isaac-Stack-Cube-Franka-IK-Rel-Skillgen-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": stack_ik_rel_env_cfg_skillgen.FrankaCubeStackSkillgenEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"), + "env_cfg_entry_point": f"{__name__}.stack_ik_rel_env_cfg_skillgen:FrankaCubeStackSkillgenEnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json", }, disable_env_checker=True, ) @@ -122,8 +115,8 @@ id="Isaac-Stack-Cube-Bin-Franka-IK-Rel-Mimic-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", kwargs={ - "env_cfg_entry_point": bin_stack_ik_rel_env_cfg.FrankaBinStackEnvCfg, - "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"), + "env_cfg_entry_point": f"{__name__}.bin_stack_ik_rel_env_cfg:FrankaBinStackEnvCfg", + "robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json", }, disable_env_checker=True, )