Improve omni.isaac.lab_tasks loading time (isaac-sim#1353)

# Description

Improve omni.isaac.lab_tasks loading time

(13th Gen Intel® Core™ i9-13950HX × 32)
* Before: 3.66 seconds
* After: 84 milliseconds

## Screenshots

Original (no changes)
![Screenshot from 2024-10-27
09-32-44](https://github.com/user-attachments/assets/2245d1c3-b0c8-47fc-8bc3-dd09c5e5303d)

Define task entry points as string when registering
![Screenshot from 2024-10-27
18-12-20](https://github.com/user-attachments/assets/574fbddd-cd77-4b78-83ea-99c21dbcb214)

Define task entry points as string when registering + Ignore `mdp`
directories during import.
![Screenshot from 2024-10-28
10-20-00](https://github.com/user-attachments/assets/6fe6744c-ad2c-42fc-b6fa-ae1966281cbb)


## 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
- [x] 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

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---------

Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

source/extensions/omni.isaac.lab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.12"
+version = "0.10.13"
 
 # Description
 title = "Isaac Lab Environments"

source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.10.13 (2024-10-30)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Defined the Gymnasium task entry points with configuration strings instead of class types.
+  This avoids unnecessary imports and improves the load types.
+* Blacklisted ``mdp`` directories during the recursive module search.
+
+
 0.10.12 (2024-10-28)
 ~~~~~~~~~~~~~~~~~~~~
 
@@ -10,6 +21,7 @@ Changed
 * Changed manager-based vision cartpole environment names from Isaac-Cartpole-RGB-Camera-v0
   and Isaac-Cartpole-Depth-Camera-v0 to Isaac-Cartpole-RGB-v0 and Isaac-Cartpole-Depth-v0
 
+
 0.10.11 (2024-10-28)
 ~~~~~~~~~~~~~~~~~~~~
 

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

@@ -25,6 +25,6 @@
 from .utils import import_packages
 
 # The blacklist is used to prevent importing configs from sub-packages
-_BLACKLIST_PKGS = ["utils"]
+_BLACKLIST_PKGS = ["utils", ".mdp"]
 # Import all configs in this package
 import_packages(__name__, _BLACKLIST_PKGS)

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

@@ -10,18 +10,20 @@
 import gymnasium as gym
 
 from . import agents
-from .allegro_hand_env_cfg import AllegroHandEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.allegro_hand"
+inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
+
 gym.register(
     id="Isaac-Repose-Cube-Allegro-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": AllegroHandEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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

@@ -10,18 +10,19 @@
 import gymnasium as gym
 
 from . import agents
-from .ant_env import AntEnv, AntEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.ant"
+
 gym.register(
     id="Isaac-Ant-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.ant:AntEnv",
+    entry_point=f"{task_entry}.ant_env:AntEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": AntEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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

@@ -10,18 +10,19 @@
 import gymnasium as gym
 
 from . import agents
-from .anymal_c_env import AnymalCEnv, AnymalCFlatEnvCfg, AnymalCRoughEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.anymal_c"
+
 gym.register(
     id="Isaac-Velocity-Flat-Anymal-C-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.anymal_c:AnymalCEnv",
+    entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": AnymalCFlatEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.anymal_c_env: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",
@@ -30,10 +31,10 @@
 
 gym.register(
     id="Isaac-Velocity-Rough-Anymal-C-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.anymal_c:AnymalCEnv",
+    entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": AnymalCRoughEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.anymal_c_env: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/cart_double_pendulum/__init__.py

@@ -10,18 +10,19 @@
 import gymnasium as gym
 
 from . import agents
-from .cart_double_pendulum_env import CartDoublePendulumEnv, CartDoublePendulumEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.cart_double_pendulum"
+
 gym.register(
     id="Isaac-Cart-Double-Pendulum-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.cart_double_pendulum:CartDoublePendulumEnv",
+    entry_point=f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartDoublePendulumEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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

@@ -10,19 +10,19 @@
 import gymnasium as gym
 
 from . import agents
-from .cartpole_camera_env import CartpoleCameraEnv, CartpoleDepthCameraEnvCfg, CartpoleRGBCameraEnvCfg
-from .cartpole_env import CartpoleEnv, CartpoleEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.cartpole"
+
 gym.register(
     id="Isaac-Cartpole-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleEnv",
+    entry_point=f"{task_entry}.cartpole_env:CartpoleEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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",
@@ -32,21 +32,21 @@
 
 gym.register(
     id="Isaac-Cartpole-RGB-Camera-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleCameraEnv",
+    entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleRGBCameraEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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",
     },
 )
 
 gym.register(
     id="Isaac-Cartpole-Depth-Camera-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleCameraEnv",
+    entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": CartpoleDepthCameraEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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

@@ -9,18 +9,19 @@
 import gymnasium as gym
 
 from . import agents
-from .franka_cabinet_env import FrankaCabinetEnv, FrankaCabinetEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.franka_cabinet"
+
 gym.register(
     id="Isaac-Franka-Cabinet-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.franka_cabinet:FrankaCabinetEnv",
+    entry_point=f"{task_entry}.franka_cabinet_env:FrankaCabinetEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": FrankaCabinetEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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

@@ -10,18 +10,19 @@
 import gymnasium as gym
 
 from . import agents
-from .humanoid_env import HumanoidEnv, HumanoidEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.humanoid"
+
 gym.register(
     id="Isaac-Humanoid-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.humanoid:HumanoidEnv",
+    entry_point=f"{task_entry}.humanoid_env:HumanoidEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": HumanoidEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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/quadcopter/__init__.py

@@ -10,18 +10,19 @@
 import gymnasium as gym
 
 from . import agents
-from .quadcopter_env import QuadcopterEnv, QuadcopterEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.quadcopter"
+
 gym.register(
     id="Isaac-Quadcopter-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.quadcopter:QuadcopterEnv",
+    entry_point=f"{task_entry}.quadcopter_env:QuadcopterEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": QuadcopterEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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

@@ -10,19 +10,20 @@
 import gymnasium as gym
 
 from . import agents
-from .shadow_hand_env_cfg import ShadowHandEnvCfg, ShadowHandOpenAIEnvCfg
-from .shadow_hand_vision_env import ShadowHandVisionEnvCfg, ShadowHandVisionEnvPlayCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.shadow_hand"
+inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
+
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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",
@@ -31,10 +32,10 @@
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandOpenAIEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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",
@@ -43,10 +44,10 @@
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandOpenAIEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_lstm_cfg.yaml",
     },
 )
@@ -55,21 +56,21 @@
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Vision-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_vision_env:ShadowHandVisionEnv",
+    entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandVisionEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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",
     },
 )
 
 gym.register(
     id="Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_vision_env:ShadowHandVisionEnv",
+    entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandVisionEnvPlayCfg,
+        "env_cfg_entry_point": f"{task_entry}.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

@@ -10,19 +10,19 @@
 import gymnasium as gym
 
 from . import agents
-from .shadow_hand_over_env import ShadowHandOverEnv
-from .shadow_hand_over_env_cfg import ShadowHandOverEnvCfg
 
 ##
 # Register Gym environments.
 ##
 
+task_entry = "omni.isaac.lab_tasks.direct.shadow_hand_over"
+
 gym.register(
     id="Isaac-Shadow-Hand-Over-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand_over:ShadowHandOverEnv",
+    entry_point=f"{task_entry}.shadow_hand_over_env:ShadowHandOverEnv",
     disable_env_checker=True,
     kwargs={
-        "env_cfg_entry_point": ShadowHandOverEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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

@@ -9,18 +9,20 @@
 
 import gymnasium as gym
 
-from . import agents, ant_env_cfg
+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": ant_env_cfg.AntEnvCfg,
+        "env_cfg_entry_point": f"{task_entry}.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",