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Fixes the import issues in stacking manipulation task #3398

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Merged
merged 2 commits into from
Sep 9, 2025
Merged

Fixes the import issues in stacking manipulation task #3398

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0700f78
fixes the import issues via "path:Module", which will not import all …
rebeccazhang0707 Sep 9, 2025
c6f74e3
Merge remote-tracking branch 'lab/main' into reb/fix_imports
rebeccazhang0707 Sep 9, 2025
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31 changes: 16 additions & 15 deletions source/isaaclab_mimic/isaaclab_mimic/envs/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,13 +16,6 @@
from .franka_stack_ik_rel_skillgen_env_cfg import FrankaCubeStackIKRelSkillgenEnvCfg
from .franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg import FrankaCubeStackIKRelVisuomotorCosmosMimicEnvCfg
from .franka_stack_ik_rel_visuomotor_mimic_env_cfg import FrankaCubeStackIKRelVisuomotorMimicEnvCfg
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Thank you for the fix! Can we also propagate the changes to these imports here? We shouldn't be importing the env cfgs since they increase the module load time.

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We can also @peterd-NV to have mimic team submit a PR to fix them as well

from .galbot_stack_rmp_abs_mimic_env import RmpFlowGalbotCubeStackAbsMimicEnv
from .galbot_stack_rmp_abs_mimic_env_cfg import (
RmpFlowGalbotLeftArmGripperCubeStackAbsMimicEnvCfg,
RmpFlowGalbotRightArmSuctionCubeStackAbsMimicEnvCfg,
)
from .galbot_stack_rmp_rel_mimic_env import RmpFlowGalbotCubeStackRelMimicEnv
from .galbot_stack_rmp_rel_mimic_env_cfg import RmpFlowGalbotLeftArmGripperCubeStackRelMimicEnvCfg

##
# Inverse Kinematics - Relative Pose Control
Expand Down Expand Up @@ -104,18 +97,22 @@

gym.register(
id="Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-Rel-Mimic-v0",
entry_point="isaaclab_mimic.envs:RmpFlowGalbotCubeStackRelMimicEnv",
entry_point=f"{__name__}.galbot_stack_rmp_rel_mimic_env:RmpFlowGalbotCubeStackRelMimicEnv",
kwargs={
"env_cfg_entry_point": galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackRelMimicEnvCfg,
"env_cfg_entry_point": (
f"{__name__}.galbot_stack_rmp_rel_mimic_env_cfg:RmpFlowGalbotLeftArmGripperCubeStackRelMimicEnvCfg"
),
},
disable_env_checker=True,
)

gym.register(
id="Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-Rel-Mimic-v0",
entry_point="isaaclab_mimic.envs:RmpFlowGalbotCubeStackRelMimicEnv",
entry_point=f"{__name__}.galbot_stack_rmp_rel_mimic_env:RmpFlowGalbotCubeStackRelMimicEnv",
kwargs={
"env_cfg_entry_point": galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackRelMimicEnvCfg,
"env_cfg_entry_point": (
f"{__name__}.galbot_stack_rmp_rel_mimic_env_cfg:RmpFlowGalbotRightArmSuctionCubeStackRelMimicEnvCfg"
),
},
disable_env_checker=True,
)
Expand All @@ -126,18 +123,22 @@

gym.register(
id="Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-Abs-Mimic-v0",
entry_point="isaaclab_mimic.envs:RmpFlowGalbotCubeStackAbsMimicEnv",
entry_point=f"{__name__}.galbot_stack_rmp_abs_mimic_env:RmpFlowGalbotCubeStackAbsMimicEnv",
kwargs={
"env_cfg_entry_point": galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackAbsMimicEnvCfg,
"env_cfg_entry_point": (
f"{__name__}.galbot_stack_rmp_abs_mimic_env_cfg:RmpFlowGalbotLeftArmGripperCubeStackAbsMimicEnvCfg"
),
},
disable_env_checker=True,
)

gym.register(
id="Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-Abs-Mimic-v0",
entry_point="isaaclab_mimic.envs:RmpFlowGalbotCubeStackAbsMimicEnv",
entry_point=f"{__name__}.galbot_stack_rmp_abs_mimic_env:RmpFlowGalbotCubeStackAbsMimicEnv",
kwargs={
"env_cfg_entry_point": galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackAbsMimicEnvCfg,
"env_cfg_entry_point": (
f"{__name__}.galbot_stack_rmp_abs_mimic_env_cfg:RmpFlowGalbotRightArmSuctionCubeStackAbsMimicEnvCfg"
),
},
disable_env_checker=True,
)
15 changes: 7 additions & 8 deletions .../isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,6 @@


import gymnasium as gym
import os

from . import stack_rmp_rel_env_cfg

##
# Register Gym environments.
Expand All @@ -21,7 +18,7 @@
id="Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": stack_rmp_rel_env_cfg.RmpFlowGalbotLeftArmCubeStackEnvCfg,
"env_cfg_entry_point": f"{__name__}.stack_rmp_rel_env_cfg:RmpFlowGalbotLeftArmCubeStackEnvCfg",
},
disable_env_checker=True,
)
Expand All @@ -31,7 +28,7 @@
id="Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": stack_rmp_rel_env_cfg.RmpFlowGalbotRightArmCubeStackEnvCfg,
"env_cfg_entry_point": f"{__name__}.stack_rmp_rel_env_cfg:RmpFlowGalbotRightArmCubeStackEnvCfg",
},
disable_env_checker=True,
)
Expand All @@ -44,7 +41,7 @@
id="Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": stack_rmp_rel_env_cfg.RmpFlowGalbotLeftArmCubeStackVisuomotorEnvCfg,
"env_cfg_entry_point": f"{__name__}.stack_rmp_rel_env_cfg:RmpFlowGalbotLeftArmCubeStackVisuomotorEnvCfg",
},
disable_env_checker=True,
)
Expand All @@ -56,7 +53,9 @@
id="Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Joint-Position-Play-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": stack_rmp_rel_env_cfg.GalbotLeftArmJointPositionCubeStackVisuomotorEnvCfg_PLAY,
"env_cfg_entry_point": (
f"{__name__}.stack_rmp_rel_env_cfg:GalbotLeftArmJointPositionCubeStackVisuomotorEnvCfg_PLAY"
),
},
disable_env_checker=True,
)
Expand All @@ -68,7 +67,7 @@
id="Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-RmpFlow-Play-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": stack_rmp_rel_env_cfg.GalbotLeftArmRmpFlowCubeStackVisuomotorEnvCfg_PLAY,
"env_cfg_entry_point": f"{__name__}.stack_rmp_rel_env_cfg:GalbotLeftArmRmpFlowCubeStackVisuomotorEnvCfg_PLAY",
},
disable_env_checker=True,
)
6 changes: 2 additions & 4 deletions ...lab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,6 @@

import gymnasium as gym

from . import stack_ik_rel_env_cfg

##
# Register Gym environments.
##
Expand All @@ -20,7 +18,7 @@
id="Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": stack_ik_rel_env_cfg.UR10LongSuctionCubeStackEnvCfg,
"env_cfg_entry_point": f"{__name__}.stack_ik_rel_env_cfg:UR10LongSuctionCubeStackEnvCfg",
},
disable_env_checker=True,
)
Expand All @@ -29,7 +27,7 @@
id="Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": stack_ik_rel_env_cfg.UR10ShortSuctionCubeStackEnvCfg,
"env_cfg_entry_point": f"{__name__}.stack_ik_rel_env_cfg:UR10ShortSuctionCubeStackEnvCfg",
},
disable_env_checker=True,
)
4 changes: 0 additions & 4 deletions ...ks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/agents/__init__.py
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