Using yaml mapping

env.py

@@ -24,21 +24,23 @@ import logging
 import os
 import sys
 from pathlib import Path
+import yaml
 
 import gymnasium as gym
 
+from huggingface_hub import hf_hub_download
 from lerobot.envs.configs import EnvConfig
 
 # Hub constants for downloading additional files
 HUB_REPO_ID = "nvidia/isaaclab-arena-envs"
-DEFAULT_CONFIG_FILE = "configs/config.yaml"
+EXAMPLE_ENVS = "example_envs.yaml"
 
+def _download_hub_file(filename: str):
+    return hf_hub_download(repo_id=HUB_REPO_ID, filename=filename)
 
 def _download_and_import(filename: str):
     """Download file from Hub and import as module."""
-    from huggingface_hub import hf_hub_download
-
-    local_path = hf_hub_download(repo_id=HUB_REPO_ID, filename=filename)
+    local_path = _download_hub_file(filename)
     module_dir = os.path.dirname(local_path)
 
     # Add directory to sys.path so modules can import each other
@@ -129,33 +131,15 @@ def validate_config(
     logging.info(f"Validated: state_keys={state_keys}, camera_keys={camera_keys}")
 
 
-# Module path for environment class resolution
-ISAACLAB_ARENA_ENV_MODULE = os.environ.get("ISAACLAB_ARENA_ENV_MODULE", "isaaclab_arena.examples.example_environments")
-
-# Environment aliases for common configurations
-ENVIRONMENT_ALIASES: dict[str, str] = {
-    "gr1_microwave": (
-        f"{ISAACLAB_ARENA_ENV_MODULE}.gr1_open_microwave_environment.Gr1OpenMicrowaveEnvironment"
-    ),
-    "galileo_pnp": (
-        f"{ISAACLAB_ARENA_ENV_MODULE}.galileo_pick_and_place_environment.GalileoPickAndPlaceEnvironment"
-    ),
-    "g1_locomanip_pnp": (
-        f"{ISAACLAB_ARENA_ENV_MODULE}"
-        ".galileo_g1_locomanip_pick_and_place_environment"
-        ".GalileoG1LocomanipPickAndPlaceEnvironment"
-    ),
-    "kitchen_pnp": (
-        f"{ISAACLAB_ARENA_ENV_MODULE}.kitchen_pick_and_place_environment.KitchenPickAndPlaceEnvironment"
-    ),
-    "press_button": f"{ISAACLAB_ARENA_ENV_MODULE}.press_button_environment.PressButtonEnvironment",
-}
-
-
 def resolve_environment_alias(environment: str) -> str:
-    """Resolve an environment alias to its full module path."""
-    return ENVIRONMENT_ALIASES.get(environment, environment)
+    envs_mapping = _download_hub_file(EXAMPLE_ENVS)
+    with open(envs_mapping, "r") as f:
+        envs_mapping = yaml.safe_load(f)
 
+    module = (
+        f"{envs_mapping['repo']['base_module']}.{envs_mapping['repo']['envs'][environment]}"
+    )
+    return module
 
 def _create_isaaclab_env(config: dict, n_envs: int) -> dict[str, dict[int, gym.vector.VectorEnv]]:
     """Create IsaacLab Arena environment from configuration.