Fixes running train scripts when rsl_rl is not installed (isaac-sim#784)

# Description

Previously, it was not possible to run training scripts with rl_games,
skrl, sb3 when rsl_rl was not installed.

Fixes isaac-sim#749 

## 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
- [ ] 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/omni/isaac/lab/envs/direct_rl_env.py

@@ -96,7 +96,6 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         print(f"\tPhysics step-size     : {self.physics_dt}")
         print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.render_interval}")
         print(f"\tEnvironment step-size : {self.step_dt}")
-        print(f"\tEnvironment device: {self.device}")
 
         if self.cfg.sim.render_interval < self.cfg.decimation:
             msg = (

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

@@ -23,6 +23,6 @@
     kwargs={
         "env_cfg_entry_point": AllegroHandEnvCfg,
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": agents.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/allegro_hand/agents/__init__.py

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

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

@@ -23,7 +23,7 @@
     kwargs={
         "env_cfg_entry_point": AntEnvCfg,
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.AntPPORunnerCfg,
+        "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/ant/agents/__init__.py

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

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

@@ -23,7 +23,7 @@
     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": agents.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 @@
     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": agents.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/anymal_c/agents/__init__.py

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

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

@@ -24,7 +24,7 @@
     kwargs={
         "env_cfg_entry_point": CartpoleEnvCfg,
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": agents.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/cartpole/agents/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from . import rsl_rl_ppo_cfg  # noqa: F401, F403

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

@@ -22,7 +22,7 @@
     kwargs={
         "env_cfg_entry_point": FrankaCabinetEnvCfg,
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": agents.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/franka_cabinet/agents/__init__.py

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

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

@@ -23,7 +23,7 @@
     kwargs={
         "env_cfg_entry_point": HumanoidEnvCfg,
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": agents.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/humanoid/agents/__init__.py

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

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

@@ -23,7 +23,7 @@
     kwargs={
         "env_cfg_entry_point": QuadcopterEnvCfg,
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": agents.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/quadcopter/agents/__init__.py

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

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

@@ -23,7 +23,7 @@
     kwargs={
         "env_cfg_entry_point": ShadowHandEnvCfg,
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.ShadowHandPPORunnerCfg,
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.ShadowHandPPORunnerCfg",
     },
 )
 
@@ -34,7 +34,7 @@
     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": agents.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/direct/shadow_hand/agents/__init__.py

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

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

@@ -21,7 +21,7 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": ant_env_cfg.AntEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.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/ant/agents/__init__.py

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

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

@@ -23,7 +23,7 @@
     kwargs={
         "env_cfg_entry_point": CartpoleEnvCfg,
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": agents.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/cartpole/agents/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from . import rsl_rl_ppo_cfg  # noqa: F401, F403

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

@@ -21,7 +21,7 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": humanoid_env_cfg.HumanoidEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.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/classic/humanoid/agents/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from . import rsl_rl_ppo_cfg  # noqa: F401, F403

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

@@ -17,7 +17,7 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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/a1/agents/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from . import rsl_rl_cfg  # noqa: F401, F403

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

@@ -16,7 +16,7 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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_b/agents/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from . import rsl_rl_cfg  # noqa: F401, F403

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

@@ -17,7 +17,7 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     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": agents.rsl_rl_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 @@
     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": agents.rsl_rl_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 @@
     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": agents.rsl_rl_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_c/agents/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from . import rsl_rl_cfg  # noqa: F401, F403

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

@@ -17,7 +17,7 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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/anymal_d/agents/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from . import rsl_rl_cfg  # noqa: F401, F403

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

@@ -17,7 +17,7 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg_PLAY,
-        "rsl_rl_cfg_entry_point": agents.rsl_rl_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/cassie/agents/__init__.py

@@ -2,5 +2,3 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
-from . import rsl_rl_cfg  # noqa: F401, F403