Refactor Registries Renaming

isaaclab_arena/assets/register.py

@@ -3,9 +3,10 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-from isaaclab_arena.assets.asset_registry import (
+from isaaclab_arena.assets.registries import (
     AssetRegistry,
     DeviceRegistry,
+    EnvironmentRegistry,
     HDRImageRegistry,
     PolicyRegistry,
     RetargeterRegistry,
@@ -57,3 +58,13 @@ def register_hdr(cls):
     else:
         HDRImageRegistry().register(cls, cls.name)
     return cls
+
+
+# Decorator to register an environment with the EnvironmentRegistry.
+def register_environment(cls):
+    registry = EnvironmentRegistry()
+    if registry.is_registered(cls.name):
+        print(f"WARNING: Environment {cls.name} is already registered. Doing nothing.")
+    else:
+        registry.register(cls, cls.name)
+    return cls

isaaclab_arena/assets/asset_registry.py → isaaclab_arena/assets/registries.py

@@ -210,6 +210,13 @@ def get_random_hdr_by_tag(self, tag: str) -> type["HDRImage"]:
         return random.choice(hdrs)
 
 
+class EnvironmentRegistry(Registry):
+    """Registry for example environment classes."""
+
+    def __init__(self):
+        super().__init__()
+
+
 # Lazy registration to avoid circular imports
 _assets_registered = False
 

isaaclab_arena/environments/arena_env_builder.py

@@ -17,9 +17,9 @@
 from isaaclab_tasks.utils import parse_env_cfg
 from isaaclab_teleop import IsaacTeleopCfg
 
-from isaaclab_arena.assets.asset_registry import DeviceRegistry
 from isaaclab_arena.assets.object import Object
 from isaaclab_arena.assets.object_reference import ObjectReference
+from isaaclab_arena.assets.registries import DeviceRegistry
 from isaaclab_arena.embodiments.no_embodiment import NoEmbodiment
 from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
 from isaaclab_arena.environments.isaaclab_arena_manager_based_env import (

isaaclab_arena/environments/isaaclab_interop.py

@@ -5,7 +5,8 @@
 
 import argparse
 
-from isaaclab_arena_environments.cli import ExampleEnvironments
+from isaaclab_arena.assets.registries import EnvironmentRegistry
+from isaaclab_arena_environments.cli import ensure_environments_registered
 
 
 def is_simulation_app_running() -> bool:
@@ -58,7 +59,8 @@ def environment_registration_callback() -> list[str]:
     # The result is that a single argument tells Arena what to register, and Lab what to run.
     parser.add_argument("--task", type=str, required=True, help="Name of the IsaacLab Arena environment to register.")
     environment_name = parser.parse_known_args()[0].task
-    environment = ExampleEnvironments[environment_name]()
+    ensure_environments_registered()
+    environment = EnvironmentRegistry().get_component_by_name(environment_name)()
     # Get the full list of environment-specific CLI args.
     AppLauncher.add_app_launcher_args(parser)
     add_isaac_lab_cli_args(parser)

isaaclab_arena/evaluation/policy_runner.py

@@ -30,7 +30,7 @@ def get_policy_cls(policy_type: str) -> type["PolicyBase"]:
       the policy_type argument as a string representing the module path and class name.
 
     """
-    from isaaclab_arena.assets.asset_registry import PolicyRegistry
+    from isaaclab_arena.assets.registries import PolicyRegistry
 
     policy_registry = PolicyRegistry()
     if policy_registry.is_registered(policy_type):

isaaclab_arena/examples/compile_env_notebook.py

@@ -16,7 +16,7 @@
 
 # %%
 
-from isaaclab_arena.assets.asset_registry import AssetRegistry
+from isaaclab_arena.assets.registries import AssetRegistry
 from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
 from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
 from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment

isaaclab_arena/tests/test_achieve_cube_goal_pose.py

@@ -22,7 +22,7 @@
 def get_test_environment(num_envs: int):
     """Returns a scene which we use for these tests."""
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_assembly_task.py

@@ -18,7 +18,7 @@ def get_peg_insert_test_environment(num_envs: int, remove_events: bool = False):
     """Returns a peg insert environment for testing."""
     import isaaclab.sim as sim_utils
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
@@ -88,7 +88,7 @@ def get_gear_mesh_test_environment(num_envs: int, remove_events: bool = False):
     """Returns a gear mesh environment for testing."""
     import isaaclab.sim as sim_utils
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_asset_registry.py

@@ -16,7 +16,7 @@
 
 
 def _test_default_assets_registered(simulation_app):
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
 
     asset_registry = AssetRegistry()
     assert asset_registry is not None
@@ -46,8 +46,8 @@ def test_default_assets_registered():
 def _test_all_assets_in_registry(simulation_app):
     # Import the necessary classes.
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
     from isaaclab_arena.assets.object import Object
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
@@ -131,8 +131,8 @@ def test_all_assets_in_registry():
 
 
 def _test_hdr_images_registered(simulation_app):
-    from isaaclab_arena.assets.asset_registry import HDRImageRegistry
     from isaaclab_arena.assets.hdr_image import HDRImage
+    from isaaclab_arena.assets.registries import HDRImageRegistry
 
     hdr_registry = HDRImageRegistry()
     all_keys = hdr_registry.get_all_keys()
@@ -168,7 +168,7 @@ def _test_hdr_image_spawn(simulation_app):
     This test only needs to confirm that the DomeLight + HDRImage mechanism
     works in a live simulation, so a single HDR is sufficient.
     """
-    from isaaclab_arena.assets.asset_registry import AssetRegistry, HDRImageRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry, HDRImageRegistry
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
@@ -223,7 +223,7 @@ def test_hdr_image_spawn():
 def _test_multi_light_in_scene(simulation_app):
     from pxr import UsdLux
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment

isaaclab_arena/tests/test_camera_observation.py

@@ -17,7 +17,7 @@
 
 def _test_camera_observation(simulation_app) -> bool:
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.gr1t2.gr1t2 import GR1T2PinkEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_close_door.py

@@ -16,7 +16,7 @@
 def get_test_environment(remove_reset_door_state_event: bool, num_envs: int):
     """Returns a scene which we use for these tests."""
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_contact_sensor_not_at_root.py

@@ -19,8 +19,8 @@ def get_test_environment(num_envs: int):
     # This test tests that we can successfully at a contact sensor to an object
     # whose rigid body is not at the root of the USD file.
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
     from isaaclab_arena.assets.object_reference import ObjectReference
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_detect_object_type.py

@@ -62,8 +62,8 @@ def _test_detect_object_type(simulation_app):
 
 
 def _test_detect_object_type_for_all_objects(simulation_app):
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
     from isaaclab_arena.assets.object_utils import detect_object_type
+    from isaaclab_arena.assets.registries import AssetRegistry
 
     asset_registry = AssetRegistry()
     for object_asset in asset_registry.get_assets_by_tag("object"):
@@ -87,9 +87,9 @@ def _test_detect_object_type_for_all_objects(simulation_app):
 
 def _test_auto_object_type(simulation_app):
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
     from isaaclab_arena.assets.object import Object
     from isaaclab_arena.assets.object_base import ObjectType
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment

isaaclab_arena/tests/test_device_and_retargeter_registry.py

@@ -19,7 +19,7 @@
 def _test_all_devices_and_retargeters_in_registry(simulation_app):
     # Import the necessary classes.
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry, DeviceRegistry, RetargeterRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry, DeviceRegistry, RetargeterRegistry
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
     from isaaclab_arena.scene.scene import Scene

isaaclab_arena/tests/test_dexsuite_kuka_lift_example.py

@@ -13,18 +13,21 @@ def test_dexsuite_lift_example_in_cli_registry() -> None:
     pytest.importorskip(
         "isaaclab_tasks.manager_based.manipulation.dexsuite.config.kuka_allegro.dexsuite_kuka_allegro_env_cfg"
     )
-    from isaaclab_arena_environments.cli import ExampleEnvironments
+    from isaaclab_arena.assets.registries import EnvironmentRegistry
+    from isaaclab_arena_environments.cli import ensure_environments_registered
 
-    assert "dexsuite_lift" in ExampleEnvironments
-    assert ExampleEnvironments["dexsuite_lift"].name == "dexsuite_lift"
+    ensure_environments_registered()
+    env_registry = EnvironmentRegistry()
+    assert env_registry.is_registered("dexsuite_lift")
+    assert env_registry.get_component_by_name("dexsuite_lift").name == "dexsuite_lift"
 
 
 @pytest.mark.with_newton
 def test_procedural_assets_registered() -> None:
     pytest.importorskip(
         "isaaclab_tasks.manager_based.manipulation.dexsuite.config.kuka_allegro.dexsuite_kuka_allegro_env_cfg"
     )
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
 
     reg = AssetRegistry()
     assert reg.is_registered("procedural_table")
@@ -37,7 +40,7 @@ def test_dexsuite_kuka_lift_task_matches_lift_mdp_flags() -> None:
         "isaaclab_tasks.manager_based.manipulation.dexsuite.config.kuka_allegro.dexsuite_kuka_allegro_env_cfg"
     )
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.metrics.success_rate import SuccessRateMetric
     from isaaclab_arena.tasks.lift_object_task import DexsuiteLiftTask, DexsuiteLiftTerminationsCfg, LiftObjectTask
     from isaaclab_arena.utils.pose import Pose, PoseRange

isaaclab_arena/tests/test_duplicate_asset.py

@@ -16,7 +16,7 @@
 def get_test_environment(num_envs: int, position_1: tuple[float, float, float], position_2: tuple[float, float, float]):
     """Returns a scene with two copies of the same cube object."""
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_environment_registry.py

@@ -0,0 +1,29 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Tests that all environments in isaaclab_arena_environments are registered."""
+
+from isaaclab_arena.assets.registries import EnvironmentRegistry
+from isaaclab_arena_environments.cli import ensure_environments_registered
+
+
+def test_environments_registered():
+    """All environments in isaaclab_arena_environments are in the registry after ensure_environments_registered()."""
+    ensure_environments_registered()
+    env_registry = EnvironmentRegistry()
+    registered = set(env_registry.get_all_keys())
+    assert len(registered) > 0, "No environments registered"
+
+
+def test_environments_registered_twice():
+    """Calling ensure_environments_registered() twice should leave the registry unchanged."""
+    ensure_environments_registered()
+    env_registry = EnvironmentRegistry()
+    keys_after_first = set(env_registry.get_all_keys())
+
+    ensure_environments_registered()
+    keys_after_second = set(env_registry.get_all_keys())
+
+    assert keys_after_first == keys_after_second

isaaclab_arena/tests/test_events.py

@@ -24,8 +24,8 @@ def _test_set_object_pose_per_env_event(simulation_app):
 
     from isaaclab.managers import EventTermCfg, SceneEntityCfg
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
     from isaaclab_arena.assets.object_reference import ObjectReference
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
@@ -118,7 +118,7 @@ def _test_object_moves_with_initial_velocity(simulation_app):
     """Test that a sphere moves with the given initial velocity after reset."""
     import isaaclab.sim as sim_utils
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment

isaaclab_arena/tests/test_g1_agile_tabletop_apple_to_plate.py

@@ -24,7 +24,7 @@ def get_test_environment(num_envs: int):
     isolate task termination logic from the full production environment.
     """
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.g1.g1 import G1WBCAgileJointEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_g1_wbc_embodiment.py

@@ -48,7 +48,7 @@
 def get_test_environment(num_envs: int, pink_ik_enabled: bool):
     """Returns a scene which we use for these tests."""
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.g1.g1 import G1WBCJointEmbodiment, G1WBCPinkEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_galbot_embodiment.py

@@ -18,9 +18,9 @@
 
 def get_galbot_test_environment(num_envs: int = 1):
     """Returns a kitchen scene with Galbot embodiment for testing."""
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
     from isaaclab_arena.assets.object_base import ObjectType
     from isaaclab_arena.assets.object_reference import ObjectReference
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.common.arm_mode import ArmMode
     from isaaclab_arena.embodiments.galbot.galbot import GalbotEmbodiment

isaaclab_arena/tests/test_kuka_allegro_embodiment.py

@@ -13,7 +13,7 @@ def test_kuka_allegro_registered_in_asset_registry() -> None:
     pytest.importorskip(
         "isaaclab_tasks.manager_based.manipulation.dexsuite.config.kuka_allegro.dexsuite_kuka_allegro_env_cfg"
     )
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.embodiments.kuka_allegro.kuka_allegro import KukaAllegroEmbodiment
 
     reg = AssetRegistry()

isaaclab_arena/tests/test_locomanip_object_on_termination.py

@@ -16,7 +16,7 @@ def _test_g1_locomanip_object_on_destination_termination(simulation_app) -> bool
 
     from isaaclab.managers import SceneEntityCfg
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment

isaaclab_arena/tests/test_object_configuration.py

@@ -10,7 +10,7 @@
 
 def _test_object_initial_pose_update(simulation_app):
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.utils.pose import Pose
 
     asset_registry = AssetRegistry()

isaaclab_arena/tests/test_object_of_type_base.py

@@ -16,9 +16,9 @@
 
 def _test_object_of_type_base(simulation_app):
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
     from isaaclab_arena.assets.object_base import ObjectType
     from isaaclab_arena.assets.object_library import LibraryObject
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment

isaaclab_arena/tests/test_object_on_termination.py

@@ -21,8 +21,8 @@ def _test_object_on_destination_termination(simulation_app) -> bool:
 
     from isaaclab.managers import SceneEntityCfg
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
     from isaaclab_arena.assets.object_reference import ObjectReference
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder

isaaclab_arena/tests/test_object_pose_randomization.py

@@ -17,7 +17,7 @@
 def _test_object_pose_randomization(simulation_app):
     """Test that object poses are randomized within the specified range."""
 
-    from isaaclab_arena.assets.asset_registry import AssetRegistry
+    from isaaclab_arena.assets.registries import AssetRegistry
     from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
     from isaaclab_arena.environments.arena_env_builder import ArenaEnvBuilder
     from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment