Gymnasium Name Not Found...Did You Mean?

[alex-newhouse]

I have recently created a task which is very similar to the "Isaac-Lift-Cube-Franka" task in IsaacLab. I copied the files from the lift folder and created a new folder under /home/dgxIsaacLab/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/kinova_pick_place where I would configure my task. Because I want to achieve the same task, but use different robots, I went into each file and changed everything accordingly. I have been unable to begin training for this new task because of the error that the gymnasium name is not found. I figured it's due to a cfg problem but I have yet to resolve it. I can confirm the franka lift task works fine and I am on IsaacSim v5.1, Ubuntu on DGX Spark. Here is the error I receive:

Traceback (most recent call last):
  File "/home/dgx/IsaacLab/scripts/reinforcement_learning/rsl_rl/train.py", line 216, in <module>
    main()
  File "/home/dgx/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 81, in wrapper
    env_cfg, agent_cfg = register_task_to_hydra(task_name.split(":")[-1], agent_cfg_entry_point)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/dgx/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 42, in register_task_to_hydra
    env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/dgx/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 57, in load_cfg_from_registry
    cfg_entry_point = gym.spec(task_name.split(":")[-1]).kwargs.get(entry_point_key)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/dgx/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 1000, in spec
    _check_version_exists(ns, name, version)
  File "/home/dgx/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 392, in _check_version_exists
    _check_name_exists(ns, name)
  File "/home/dgx/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 369, in _check_name_exists
    raise error.NameNotFound(
gymnasium.error.NameNotFound: Environment `Isaac-Lift-Cube-Kinova` doesn't exist. Did you mean: `Isaac-Lift-Cube-Franka`?

Here is how the entry point is configured in my init.py file:

gym.register(
    id="Isaac-Lift-Cube-Kinova-v0",
    disable_env_checker=True,
    entry_point="isaaclab.envs:ManagerBasedRLEnv",
    kwargs={
        "env_cfg_entry_point": "isaaclab_tasks.manager_based.manipulation.kinova_pick_place.config.kinova.joint_pos_env_cfg:KinovaLiftEnvCfg",
        "rsl_rl_cfg_entry_point": "isaaclab_tasks.manager_based.manipulation.kinova_pick_place.config.kinova.agents.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg",
        "skrl_cfg_entry_point": "isaaclab_tasks.manager_based.manipulation.kinova_pick_place.config.kinova.agents:skrl_ppo_cfg.yaml",
        "rl_games_cfg_entry_point": "isaaclab_tasks.manager_based.manipulation.kinova_pick_place.config.kinova.agents:rl_games_ppo_cfg.yaml",
        "sb3_cfg_entry_point": "isaaclab_tasks.manager_based.manipulation.kinova_pick_place.config.kinova.agents:sb3_ppo_cfg.yaml",

    },
)