task_code/push/config/franka/__init__.py

import gymnasium as gym

from . import agents

##
# Register Gym environments.
##

gym.register(
    id="Isaac-Push-Cube-Franka-v0",
    entry_point="isaaclab.envs:ManagerBasedRLEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:FrankaCubePushEnvCfg",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg",
    },
    disable_env_checker=True,
)

gym.register(
    id="Isaac-Push-Cube-Franka-Play-v0",
    entry_point="isaaclab.envs:ManagerBasedRLEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:FrankaCubePushEnvCfg_PLAY",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg",
    },
    disable_env_checker=True,
)