From 8fe61aace83fdf166e9eff5100046a21c830f89f Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Thu, 26 Feb 2026 01:29:15 -0800
Subject: [PATCH 1/2] clean up mimic and pink

---
 .../isaaclab/controllers/joint_impedance.py   |  52 +-------
 .../controllers/joint_impedance_cfg.py        |  61 +++++++++
 .../controllers/pink_ik/local_frame_task.py   | 118 ++---------------
 .../pink_ik/null_space_posture_task.py        |  13 +-
 .../isaaclab/controllers/pink_ik/pink_ik.py   |  44 +++++--
 .../controllers/pink_ik/pink_ik_cfg.py        |  25 +++-
 .../controllers/pink_ik/pink_task_cfg.py      |  67 ++++++++++
 .../controllers/pink_ik/pink_tasks.py         | 123 ++++++++++++++++++
 source/isaaclab/isaaclab/controllers/utils.py |  12 +-
 .../mdp/actions/pink_task_space_actions.py    |   2 +-
 .../test/controllers/test_local_frame_task.py |   2 +-
 .../isaaclab/test/controllers/test_pink_ik.py |   7 +-
 .../pick_place/configs/pink_controller_cfg.py |  14 +-
 .../fixed_base_upper_body_ik_g1_env_cfg.py    |  44 +++----
 .../pick_place/locomanipulation_g1_env_cfg.py |   9 +-
 .../pick_place/mdp/observations.py            |   8 +-
 .../pick_place/mdp/terminations.py            |   8 +-
 .../exhaustpipe_gr1t2_pink_ik_env_cfg.py      |  53 +++-----
 .../nutpour_gr1t2_pink_ik_env_cfg.py          |  53 +++-----
 .../pick_place/pickplace_gr1t2_env_cfg.py     |  82 ++++++------
 .../pickplace_gr1t2_waist_enabled_env_cfg.py  |  46 +++----
 ...ckplace_unitree_g1_inspire_hand_env_cfg.py |  58 +++------
 22 files changed, 486 insertions(+), 415 deletions(-)
 create mode 100644 source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
 create mode 100644 source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
 create mode 100644 source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py

diff --git a/source/isaaclab/isaaclab/controllers/joint_impedance.py b/source/isaaclab/isaaclab/controllers/joint_impedance.py
index 5baca32385d..0dee9da4898 100644
--- a/source/isaaclab/isaaclab/controllers/joint_impedance.py
+++ b/source/isaaclab/isaaclab/controllers/joint_impedance.py
@@ -5,58 +5,12 @@
 
 from __future__ import annotations
 
-from collections.abc import Sequence
-from dataclasses import MISSING
+from typing import TYPE_CHECKING
 
 import torch
 
-from isaaclab.utils import configclass
-
-
-@configclass
-class JointImpedanceControllerCfg:
-    """Configuration for joint impedance regulation controller."""
-
-    command_type: str = "p_abs"
-    """Type of command: p_abs (absolute) or p_rel (relative)."""
-
-    dof_pos_offset: Sequence[float] | None = None
-    """Offset to DOF position command given to controller. (default: None).
-
-    If None then position offsets are set to zero.
-    """
-
-    impedance_mode: str = MISSING
-    """Type of gains: "fixed", "variable", "variable_kp"."""
-
-    inertial_compensation: bool = False
-    """Whether to perform inertial compensation (inverse dynamics)."""
-
-    gravity_compensation: bool = False
-    """Whether to perform gravity compensation."""
-
-    stiffness: float | Sequence[float] = MISSING
-    """The positional gain for determining desired torques based on joint position error."""
-
-    damping_ratio: float | Sequence[float] | None = None
-    """The damping ratio is used in-conjunction with positional gain to compute desired torques
-    based on joint velocity error.
-
-    The following math operation is performed for computing velocity gains:
-        :math:`d_gains = 2 * sqrt(p_gains) * damping_ratio`.
-    """
-
-    stiffness_limits: tuple[float, float] = (0, 300)
-    """Minimum and maximum values for positional gains.
-
-    Note: Used only when :obj:`impedance_mode` is "variable" or "variable_kp".
-    """
-
-    damping_ratio_limits: tuple[float, float] = (0, 100)
-    """Minimum and maximum values for damping ratios used to compute velocity gains.
-
-    Note: Used only when :obj:`impedance_mode` is "variable".
-    """
+if TYPE_CHECKING:
+    from .joint_impedance_cfg import JointImpedanceControllerCfg
 
 
 class JointImpedanceController:
diff --git a/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py b/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
new file mode 100644
index 00000000000..36f157c6f63
--- /dev/null
+++ b/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
@@ -0,0 +1,61 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from __future__ import annotations
+
+from collections.abc import Sequence
+from dataclasses import MISSING
+
+from isaaclab.utils import configclass
+
+
+@configclass
+class JointImpedanceControllerCfg:
+    """Configuration for joint impedance regulation controller."""
+
+    class_type: type | str = "isaaclab.controllers.joint_impedance:JointImpedanceController"
+    """The associated controller class."""
+
+    command_type: str = "p_abs"
+    """Type of command: p_abs (absolute) or p_rel (relative)."""
+
+    dof_pos_offset: Sequence[float] | None = None
+    """Offset to DOF position command given to controller. (default: None).
+
+    If None then position offsets are set to zero.
+    """
+
+    impedance_mode: str = MISSING
+    """Type of gains: "fixed", "variable", "variable_kp"."""
+
+    inertial_compensation: bool = False
+    """Whether to perform inertial compensation (inverse dynamics)."""
+
+    gravity_compensation: bool = False
+    """Whether to perform gravity compensation."""
+
+    stiffness: float | Sequence[float] = MISSING
+    """The positional gain for determining desired torques based on joint position error."""
+
+    damping_ratio: float | Sequence[float] | None = None
+    """The damping ratio is used in-conjunction with positional gain to compute desired torques
+    based on joint velocity error.
+
+    The following math operation is performed for computing velocity gains:
+        :math:`d_gains = 2 * sqrt(p_gains) * damping_ratio`.
+    """
+
+    stiffness_limits: tuple[float, float] = (0, 300)
+    """Minimum and maximum values for positional gains.
+
+    Note: Used only when :obj:`impedance_mode` is "variable" or "variable_kp".
+    """
+
+    damping_ratio_limits: tuple[float, float] = (0, 100)
+    """Minimum and maximum values for damping ratios used to compute velocity gains.
+
+    Note: Used only when :obj:`impedance_mode` is "variable".
+    """
+
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/local_frame_task.py b/source/isaaclab/isaaclab/controllers/pink_ik/local_frame_task.py
index ff8c6b9b03d..def3bcb12d2 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/local_frame_task.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/local_frame_task.py
@@ -3,114 +3,20 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from collections.abc import Sequence
+"""Deprecated compatibility shim for Pink task imports.
 
-import numpy as np
-import pinocchio as pin
-from pink.tasks.frame_task import FrameTask
+Prefer importing from ``isaaclab.controllers.pink_ik.pink_tasks``.
+"""
 
-from .pink_kinematics_configuration import PinkKinematicsConfiguration
+from __future__ import annotations
 
+import warnings
 
-class LocalFrameTask(FrameTask):
-    """
-    A task that computes error in a local (custom) frame.
-    Inherits from FrameTask but overrides compute_error.
-    """
+warnings.warn(
+    "`isaaclab.controllers.pink_ik.local_frame_task` is deprecated; "
+    "import from `isaaclab.controllers.pink_ik.pink_tasks` instead.",
+    DeprecationWarning,
+    stacklevel=2,
+)
 
-    def __init__(
-        self,
-        frame: str,
-        base_link_frame_name: str,
-        position_cost: float | Sequence[float],
-        orientation_cost: float | Sequence[float],
-        lm_damping: float = 0.0,
-        gain: float = 1.0,
-    ):
-        """
-        Initialize the LocalFrameTask with configuration.
-
-        This task computes pose errors in a local (custom) frame rather than the world frame,
-        allowing for more flexible control strategies where the reference frame can be
-        specified independently.
-
-        Args:
-            frame: Name of the frame to control (end-effector or target frame).
-            base_link_frame_name: Name of the base link frame used as reference frame
-                for computing transforms and errors.
-            position_cost: Cost weight(s) for position error. Can be a single float
-                for uniform weighting or a sequence of 3 floats for per-axis weighting.
-            orientation_cost: Cost weight(s) for orientation error. Can be a single float
-                for uniform weighting or a sequence of 3 floats for per-axis weighting.
-            lm_damping: Levenberg-Marquardt damping factor for numerical stability.
-                Defaults to 0.0 (no damping).
-            gain: Task gain factor that scales the overall task contribution.
-                Defaults to 1.0.
-        """
-        super().__init__(frame, position_cost, orientation_cost, lm_damping, gain)
-        self.base_link_frame_name = base_link_frame_name
-        self.transform_target_to_base = None
-
-    def set_target(self, transform_target_to_base: pin.SE3) -> None:
-        """Set task target pose in the world frame.
-
-        Args:
-            transform_target_to_world: Transform from the task target frame to
-                the world frame.
-        """
-        self.transform_target_to_base = transform_target_to_base.copy()
-
-    def set_target_from_configuration(self, configuration: PinkKinematicsConfiguration) -> None:
-        """Set task target pose from a robot configuration.
-
-        Args:
-            configuration: Robot configuration.
-        """
-        if not isinstance(configuration, PinkKinematicsConfiguration):
-            raise ValueError("configuration must be a PinkKinematicsConfiguration")
-        self.set_target(configuration.get_transform(self.frame, self.base_link_frame_name))
-
-    def compute_error(self, configuration: PinkKinematicsConfiguration) -> np.ndarray:
-        """
-        Compute the error between current and target pose in a local frame.
-        """
-        if not isinstance(configuration, PinkKinematicsConfiguration):
-            raise ValueError("configuration must be a PinkKinematicsConfiguration")
-        if self.transform_target_to_base is None:
-            raise ValueError(f"no target set for frame '{self.frame}'")
-
-        transform_frame_to_base = configuration.get_transform(self.frame, self.base_link_frame_name)
-        transform_target_to_frame = transform_frame_to_base.actInv(self.transform_target_to_base)
-
-        error_in_frame: np.ndarray = pin.log(transform_target_to_frame).vector
-        return error_in_frame
-
-    def compute_jacobian(self, configuration: PinkKinematicsConfiguration) -> np.ndarray:
-        r"""Compute the frame task Jacobian.
-
-        The task Jacobian :math:`J(q) \in \mathbb{R}^{6 \times n_v}` is the
-        derivative of the task error :math:`e(q) \in \mathbb{R}^6` with respect
-        to the configuration :math:`q`. The formula for the frame task is:
-
-        .. math::
-
-            J(q) = -\text{Jlog}_6(T_{tb}) {}_b J_{0b}(q)
-
-        The derivation of the formula for this Jacobian is detailed in
-        [Caron2023]_. See also
-        :func:`pink.tasks.task.Task.compute_jacobian` for more context on task
-        Jacobians.
-
-        Args:
-            configuration: Robot configuration :math:`q`.
-
-        Returns:
-            Jacobian matrix :math:`J`, expressed locally in the frame.
-        """
-        if self.transform_target_to_base is None:
-            raise Exception(f"no target set for frame '{self.frame}'")
-        transform_frame_to_base = configuration.get_transform(self.frame, self.base_link_frame_name)
-        transform_frame_to_target = self.transform_target_to_base.actInv(transform_frame_to_base)
-        jacobian_in_frame = configuration.get_frame_jacobian(self.frame)
-        J = -pin.Jlog6(transform_frame_to_target) @ jacobian_in_frame
-        return J
+from .pink_tasks import DampingTask, FrameTask, LocalFrameTask
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/null_space_posture_task.py b/source/isaaclab/isaaclab/controllers/pink_ik/null_space_posture_task.py
index fbd3b84199a..62d2263643b 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/null_space_posture_task.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/null_space_posture_task.py
@@ -5,6 +5,8 @@
 
 from __future__ import annotations
 
+from typing import Any
+
 import numpy as np
 import pinocchio as pin
 import scipy.linalg.blas as blas
@@ -87,7 +89,7 @@ class NullSpacePostureTask(Task):
 
     def __init__(
         self,
-        cost: float,
+        cost: float | Any,
         lm_damping: float = 0.0,
         gain: float = 1.0,
         controlled_frames: list[str] | None = None,
@@ -111,6 +113,15 @@ def __init__(
             controlled_joints: Joint names to control in the posture task. If None or
                 empty, all actuated joints are controlled.
         """
+        # Support class_type(cfg) construction by accepting a config object as first argument.
+        if not isinstance(cost, (int, float)):
+            cfg = cost
+            cost = float(getattr(cfg, "cost"))
+            lm_damping = float(getattr(cfg, "lm_damping", lm_damping))
+            gain = float(getattr(cfg, "gain", gain))
+            controlled_frames = getattr(cfg, "controlled_frames", controlled_frames)
+            controlled_joints = getattr(cfg, "controlled_joints", controlled_joints)
+
         super().__init__(cost=cost, gain=gain, lm_damping=lm_damping)
         self.target_q: np.ndarray | None = None
         self.controlled_frames: list[str] = controlled_frames or []
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
index 788a5da6705..c7d1022cf8a 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
@@ -14,16 +14,20 @@
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, cast
 
 import numpy as np
 import torch
 from pink import solve_ik
+from pink.tasks import Task
 
 from isaaclab.assets import ArticulationCfg
+from isaaclab.controllers import utils as controller_utils
+from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.string import resolve_matching_names_values
 
 from .null_space_posture_task import NullSpacePostureTask
+from .pink_task_cfg import PinkIKTaskCfg
 from .pink_kinematics_configuration import PinkKinematicsConfiguration
 
 if TYPE_CHECKING:
@@ -74,10 +78,25 @@ def __init__(
         # Validate consistency between controlled_joint_indices and configuration
         self._validate_consistency(cfg, controlled_joint_indices)
 
+        # Resolve URDF/mesh paths at runtime. If only usd_path is provided, convert USD→URDF first.
+        if cfg.urdf_path is None and cfg.usd_path is not None:
+            import tempfile
+
+            urdf_output_dir = cfg.urdf_output_dir or tempfile.gettempdir()
+            urdf_path, mesh_path = controller_utils.convert_usd_to_urdf(
+                cfg.usd_path, urdf_output_dir, force_conversion=True
+            )
+        else:
+            urdf_path = retrieve_file_path(cfg.urdf_path) if cfg.urdf_path else cfg.urdf_path
+            mesh_path = retrieve_file_path(cfg.mesh_path) if cfg.mesh_path else cfg.mesh_path
+
+        if urdf_path is None:
+            raise ValueError("Either urdf_path or usd_path must be provided in the controller configuration")
+
         # Initialize the Kinematics model used by pink IK to control robot
         self.pink_configuration = PinkKinematicsConfiguration(
-            urdf_path=cfg.urdf_path,
-            mesh_path=cfg.mesh_path,
+            urdf_path=urdf_path,
+            mesh_path=mesh_path,
             controlled_joint_names=cfg.joint_names,
         )
 
@@ -93,16 +112,19 @@ def __init__(
         )
         self.init_joint_positions = np.zeros(len(pink_joint_names))
         self.init_joint_positions[indices] = np.array(values)
+        self._variable_input_tasks = [task_cfg.class_type(task_cfg) for task_cfg in cfg.variable_input_tasks]
+        self._fixed_input_tasks = [task_cfg.class_type(task_cfg) for task_cfg in cfg.fixed_input_tasks]
+        self.cfg.variable_input_tasks = cast(list[Task | PinkIKTaskCfg], self._variable_input_tasks)
+        self.cfg.fixed_input_tasks = cast(list[Task | PinkIKTaskCfg], self._fixed_input_tasks)
 
-        # Set the default targets for each task from the configuration
-        for task in cfg.variable_input_tasks:
+        for task in self._variable_input_tasks:
             # If task is a NullSpacePostureTask, set the target to the initial joint positions
             if isinstance(task, NullSpacePostureTask):
                 task.set_target(self.init_joint_positions)
                 continue
-            task.set_target_from_configuration(self.pink_configuration)
-        for task in cfg.fixed_input_tasks:
-            task.set_target_from_configuration(self.pink_configuration)
+            getattr(task, "set_target_from_configuration")(self.pink_configuration)
+        for task in self._fixed_input_tasks:
+            getattr(task, "set_target_from_configuration")(self.pink_configuration)
 
         # Create joint ordering mappings
         self._setup_joint_ordering_mappings()
@@ -127,6 +149,8 @@ def _validate_consistency(self, cfg: PinkIKControllerCfg, controlled_joint_indic
             )
 
         # Check: Joint name consistency - verify that the indices point to the expected joint names
+        if cfg.all_joint_names is None:
+            raise ValueError("cfg.all_joint_names cannot be None")
         actual_joint_names = [cfg.all_joint_names[idx] for idx in controlled_joint_indices]
         if actual_joint_names != cfg.joint_names:
             mismatches = []
@@ -184,7 +208,7 @@ def update_null_space_joint_targets(self, curr_joint_pos: np.ndarray):
         Args:
             curr_joint_pos: The current joint positions of shape (num_joints,).
         """
-        for task in self.cfg.variable_input_tasks:
+        for task in self._variable_input_tasks:
             if isinstance(task, NullSpacePostureTask):
                 task.set_target(curr_joint_pos)
 
@@ -220,7 +244,7 @@ def compute(
         try:
             velocity = solve_ik(
                 self.pink_configuration,
-                self.cfg.variable_input_tasks + self.cfg.fixed_input_tasks,
+                self._variable_input_tasks + self._fixed_input_tasks,
                 dt,
                 solver="daqp",
                 safety_break=self.cfg.fail_on_joint_limit_violation,
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
index 3eb9fa6c575..3d37c4d9512 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
@@ -7,11 +7,14 @@
 
 from __future__ import annotations
 
-from dataclasses import MISSING
-
-from pink.tasks import FrameTask
+from dataclasses import field
+from typing import TYPE_CHECKING
 
 from isaaclab.utils import configclass
+from .pink_task_cfg import PinkIKTaskCfg
+
+if TYPE_CHECKING:
+    from pink.tasks import Task
 
 
 @configclass
@@ -21,9 +24,19 @@ class PinkIKControllerCfg:
     The Pink IK controller can be found at: https://github.com/stephane-caron/pink
     """
 
+    usd_path: str | None = None
+    """Path to the robot's USD file. When set and ``urdf_path`` is None, the controller will automatically
+    convert the USD to URDF at runtime using ``convert_usd_to_urdf``. Requires Isaac Sim at runtime.
+    """
+
+    urdf_output_dir: str | None = None
+    """Output directory for the USD-to-URDF conversion. Only used when ``usd_path`` is set and
+    ``urdf_path`` is None. Defaults to ``tempfile.gettempdir()`` if not provided.
+    """
+
     urdf_path: str | None = None
     """Path to the robot's URDF file. This file is used by Pinocchio's ``robot_wrapper.BuildFromURDF``
-    to load the robot model.
+    to load the robot model. If not provided, the URDF is generated from ``usd_path`` at runtime.
     """
 
     mesh_path: str | None = None
@@ -38,7 +51,7 @@ class PinkIKControllerCfg:
     The last ``num_hand_joints`` values of the action are the hand joint angles.
     """
 
-    variable_input_tasks: list[FrameTask] = MISSING
+    variable_input_tasks: list[Task | PinkIKTaskCfg] = field(default_factory=list)
     """A list of tasks for the Pink IK controller.
 
     These tasks are controllable by the environment action.
@@ -47,7 +60,7 @@ class PinkIKControllerCfg:
     For more details, visit: https://github.com/stephane-caron/pink
     """
 
-    fixed_input_tasks: list[FrameTask] = MISSING
+    fixed_input_tasks: list[Task | PinkIKTaskCfg] = field(default_factory=list)
     """
     A list of tasks for the Pink IK controller. These tasks are fixed and not controllable by the env action.
 
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
new file mode 100644
index 00000000000..efcf3a0e914
--- /dev/null
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
@@ -0,0 +1,67 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Task configuration objects for Pink IK."""
+
+from __future__ import annotations
+
+from dataclasses import MISSING, field
+from typing import Any
+
+from isaaclab.utils import configclass
+
+
+@configclass
+class PinkIKTaskCfg:
+    """Task specification for deferred runtime construction."""
+
+    class_type: str | type | None = None
+    """Task builder as ``"module.path:callable"`` or callable object."""
+
+
+@configclass
+class FrameTaskCfg(PinkIKTaskCfg):
+    """Configuration wrapper for ``pink.tasks.FrameTask``."""
+
+    frame: Any = MISSING
+    position_cost: Any = MISSING
+    orientation_cost: Any = MISSING
+    lm_damping: float = 0.0
+    gain: float = 1.0
+    class_type: str | type | None = "isaaclab.controllers.pink_ik.pink_tasks:FrameTask"
+
+
+@configclass
+class DampingTaskCfg(PinkIKTaskCfg):
+    """Configuration wrapper for ``pink.tasks.DampingTask``."""
+
+    cost: Any = MISSING
+    class_type: str | type | None = "isaaclab.controllers.pink_ik.pink_tasks:DampingTask"
+
+
+@configclass
+class LocalFrameTaskCfg(PinkIKTaskCfg):
+    """Configuration wrapper for ``LocalFrameTask``."""
+
+    frame: Any = MISSING
+    base_link_frame_name: Any = MISSING
+    position_cost: Any = MISSING
+    orientation_cost: Any = MISSING
+    lm_damping: float = 0.0
+    gain: float = 1.0
+    class_type: str | type | None = "isaaclab.controllers.pink_ik.pink_tasks:LocalFrameTask"
+
+
+@configclass
+class NullSpacePostureTaskCfg(PinkIKTaskCfg):
+    """Configuration wrapper for ``NullSpacePostureTask``."""
+
+    cost: Any = MISSING
+    lm_damping: float = 0.0
+    gain: float = 1.0
+    controlled_frames: list[str] = field(default_factory=list)
+    controlled_joints: list[str] = field(default_factory=list)
+    class_type: str | type | None = "isaaclab.controllers.pink_ik.null_space_posture_task:NullSpacePostureTask"
+
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py
new file mode 100644
index 00000000000..84bb60a3a8e
--- /dev/null
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py
@@ -0,0 +1,123 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from collections.abc import Sequence
+
+import numpy as np
+import pinocchio as pin
+from pink.tasks import DampingTask as PinkDampingTask
+from pink.tasks.frame_task import FrameTask as PinkFrameTask
+
+from .pink_kinematics_configuration import PinkKinematicsConfiguration
+
+
+class FrameTask(PinkFrameTask):
+    """Frame task that also supports ``class_type(cfg)`` construction."""
+
+    def __init__(
+        self,
+        cfg_or_frame,
+        position_cost: float | Sequence[float] | None = None,
+        orientation_cost: float | Sequence[float] | None = None,
+        lm_damping: float = 0.0,
+        gain: float = 1.0,
+    ):
+        if isinstance(cfg_or_frame, str):
+            frame = cfg_or_frame
+        else:
+            cfg = cfg_or_frame
+            frame = cfg.frame
+            position_cost = cfg.position_cost
+            orientation_cost = cfg.orientation_cost
+            lm_damping = cfg.lm_damping
+            gain = cfg.gain
+
+        if position_cost is None or orientation_cost is None:
+            raise ValueError("position_cost and orientation_cost must be provided")
+
+        super().__init__(
+            frame,
+            position_cost=position_cost,
+            orientation_cost=orientation_cost,
+            lm_damping=lm_damping,
+            gain=gain,
+        )
+
+
+class DampingTask(PinkDampingTask):
+    """Damping task accepting either cfg or direct cost argument."""
+
+    def __init__(self, cfg_or_cost, cost: float | None = None):
+        if isinstance(cfg_or_cost, (int, float)):
+            _cost = float(cfg_or_cost if cost is None else cost)
+        else:
+            _cost = cfg_or_cost.cost
+        super().__init__(cost=_cost)
+
+
+class LocalFrameTask(FrameTask):
+    """
+    A task that computes error in a local (custom) frame.
+    Inherits from FrameTask but overrides compute_error.
+    """
+
+    def __init__(
+        self,
+        frame,
+        base_link_frame_name: str | None = None,
+        position_cost: float | Sequence[float] | None = None,
+        orientation_cost: float | Sequence[float] | None = None,
+        lm_damping: float = 0.0,
+        gain: float = 1.0,
+    ):
+        if isinstance(frame, str):
+            resolved_frame = frame
+            if base_link_frame_name is None:
+                raise ValueError("base_link_frame_name must be provided")
+        else:
+            cfg = frame
+            resolved_frame = cfg.frame
+            base_link_frame_name = cfg.base_link_frame_name
+            position_cost = cfg.position_cost
+            orientation_cost = cfg.orientation_cost
+            lm_damping = cfg.lm_damping
+            gain = cfg.gain
+
+        if position_cost is None or orientation_cost is None:
+            raise ValueError("position_cost and orientation_cost must be provided")
+
+        super().__init__(resolved_frame, position_cost, orientation_cost, lm_damping, gain)
+        self.base_link_frame_name = base_link_frame_name
+        self.transform_target_to_base = None
+
+    def set_target(self, transform_target_to_base: pin.SE3) -> None:
+        self.transform_target_to_base = transform_target_to_base.copy()
+
+    def set_target_from_configuration(self, configuration: PinkKinematicsConfiguration) -> None:
+        if not isinstance(configuration, PinkKinematicsConfiguration):
+            raise ValueError("configuration must be a PinkKinematicsConfiguration")
+        self.set_target(configuration.get_transform(self.frame, self.base_link_frame_name))
+
+    def compute_error(self, configuration: PinkKinematicsConfiguration) -> np.ndarray:
+        if not isinstance(configuration, PinkKinematicsConfiguration):
+            raise ValueError("configuration must be a PinkKinematicsConfiguration")
+        if self.transform_target_to_base is None:
+            raise ValueError(f"no target set for frame '{self.frame}'")
+
+        transform_frame_to_base = configuration.get_transform(self.frame, self.base_link_frame_name)
+        transform_target_to_frame = transform_frame_to_base.actInv(self.transform_target_to_base)
+
+        error_in_frame: np.ndarray = pin.log(transform_target_to_frame).vector
+        return error_in_frame
+
+    def compute_jacobian(self, configuration: PinkKinematicsConfiguration) -> np.ndarray:
+        if self.transform_target_to_base is None:
+            raise Exception(f"no target set for frame '{self.frame}'")
+        transform_frame_to_base = configuration.get_transform(self.frame, self.base_link_frame_name)
+        transform_frame_to_target = self.transform_target_to_base.actInv(transform_frame_to_base)
+        jacobian_in_frame = configuration.get_frame_jacobian(self.frame)
+        J = -pin.Jlog6(transform_frame_to_target) @ jacobian_in_frame
+        return J
+
diff --git a/source/isaaclab/isaaclab/controllers/utils.py b/source/isaaclab/isaaclab/controllers/utils.py
index 7e72912fdfd..fc091d324af 100644
--- a/source/isaaclab/isaaclab/controllers/utils.py
+++ b/source/isaaclab/isaaclab/controllers/utils.py
@@ -12,12 +12,6 @@
 import os
 import re
 
-from isaacsim.core.utils.extensions import enable_extension
-
-enable_extension("isaacsim.asset.exporter.urdf")
-
-from nvidia.srl.from_usd.to_urdf import UsdToUrdf
-
 # import logger
 logger = logging.getLogger(__name__)
 
@@ -32,6 +26,12 @@ def convert_usd_to_urdf(usd_path: str, output_path: str, force_conversion: bool
     Returns:
         A tuple containing the paths to the URDF file and the mesh directory.
     """
+    from isaacsim.core.utils.extensions import enable_extension
+
+    enable_extension("isaacsim.asset.exporter.urdf")
+
+    from nvidia.srl.from_usd.to_urdf import UsdToUrdf
+
     usd_to_urdf_kwargs = {
         "node_names_to_remove": None,
         "edge_names_to_remove": None,
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py b/source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py
index 7dad8020533..5d7e59418ee 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py
@@ -15,7 +15,7 @@
 import isaaclab.utils.math as math_utils
 from isaaclab.assets.articulation import Articulation
 from isaaclab.controllers.pink_ik import PinkIKController
-from isaaclab.controllers.pink_ik.local_frame_task import LocalFrameTask
+from isaaclab.controllers.pink_ik.pink_tasks import LocalFrameTask
 from isaaclab.managers.action_manager import ActionTerm
 
 if TYPE_CHECKING:
diff --git a/source/isaaclab/test/controllers/test_local_frame_task.py b/source/isaaclab/test/controllers/test_local_frame_task.py
index cf832f32a93..5e7304d9372 100644
--- a/source/isaaclab/test/controllers/test_local_frame_task.py
+++ b/source/isaaclab/test/controllers/test_local_frame_task.py
@@ -16,7 +16,7 @@
 import pinocchio as pin
 import pytest
 
-from isaaclab.controllers.pink_ik.local_frame_task import LocalFrameTask
+from isaaclab.controllers.pink_ik.pink_tasks import LocalFrameTask
 from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
 
 # class TestLocalFrameTask:
diff --git a/source/isaaclab/test/controllers/test_pink_ik.py b/source/isaaclab/test/controllers/test_pink_ik.py
index 99a8603089b..c42b9b63f59 100644
--- a/source/isaaclab/test/controllers/test_pink_ik.py
+++ b/source/isaaclab/test/controllers/test_pink_ik.py
@@ -94,10 +94,9 @@ def env_and_cfg(request):
 
     env, env_cfg = create_test_env(env_name, num_envs=1)
 
-    # Get only the FrameTasks from variable_input_tasks
-    variable_input_tasks = [
-        task for task in env_cfg.actions.upper_body_ik.controller.variable_input_tasks if isinstance(task, FrameTask)
-    ]
+    # Read instantiated task objects from the live action term/controller, not raw cfg wrappers.
+    action_term = env.action_manager.get_term(name="upper_body_ik")
+    variable_input_tasks = [task for task in action_term._ik_controllers[0].cfg.variable_input_tasks if isinstance(task, FrameTask)]
     assert len(variable_input_tasks) == 2, "Expected exactly two FrameTasks (left and right hand)."
     frames = [task.frame for task in variable_input_tasks]
     # Try to infer which is left and which is right
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/pink_controller_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/pink_controller_cfg.py
index 488d22c137b..51d69f92eed 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/pink_controller_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/pink_controller_cfg.py
@@ -9,9 +9,7 @@
 including both fixed base and mobile configurations for upper body manipulation.
 """
 
-from isaaclab.controllers.pink_ik.local_frame_task import LocalFrameTask
-from isaaclab.controllers.pink_ik.null_space_posture_task import NullSpacePostureTask
-from isaaclab.controllers.pink_ik.pink_ik_cfg import PinkIKControllerCfg
+from isaaclab.controllers.pink_ik import LocalFrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 
 ##
@@ -25,23 +23,23 @@
     show_ik_warnings=True,
     fail_on_joint_limit_violation=False,
     variable_input_tasks=[
-        LocalFrameTask(
-            "g1_29dof_with_hand_rev_1_0_left_wrist_yaw_link",
+        LocalFrameTaskCfg(
+            frame="g1_29dof_with_hand_rev_1_0_left_wrist_yaw_link",
             base_link_frame_name="g1_29dof_with_hand_rev_1_0_pelvis",
             position_cost=8.0,  # [cost] / [m]
             orientation_cost=2.0,  # [cost] / [rad]
             lm_damping=10,  # dampening for solver for step jumps
             gain=0.5,
         ),
-        LocalFrameTask(
-            "g1_29dof_with_hand_rev_1_0_right_wrist_yaw_link",
+        LocalFrameTaskCfg(
+            frame="g1_29dof_with_hand_rev_1_0_right_wrist_yaw_link",
             base_link_frame_name="g1_29dof_with_hand_rev_1_0_pelvis",
             position_cost=8.0,  # [cost] / [m]
             orientation_cost=2.0,  # [cost] / [rad]
             lm_damping=10,  # dampening for solver for step jumps
             gain=0.5,
         ),
-        NullSpacePostureTask(
+        NullSpacePostureTaskCfg(
             cost=0.5,
             lm_damping=1,
             controlled_frames=[
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
index e225660e8e8..c6c115ed679 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
@@ -4,16 +4,8 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-import logging
-
-try:
-    import isaacteleop  # noqa: F401  -- pipeline builders need isaacteleop at runtime
-    from isaaclab_teleop import IsaacTeleopCfg, XrCfg
-
-    _TELEOP_AVAILABLE = True
-except ImportError:
-    _TELEOP_AVAILABLE = False
-    logging.getLogger(__name__).warning("isaaclab_teleop is not installed. XR teleoperation features will be disabled.")
+from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
+from isaaclab_teleop.xr_cfg import XrCfg
 
 import isaaclab.envs.mdp as base_mdp
 import isaaclab.sim as sim_utils
@@ -26,7 +18,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
 from isaaclab.utils import configclass
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_tasks.manager_based.locomanipulation.pick_place import mdp as locomanip_mdp
 from isaaclab_tasks.manager_based.manipulation.pick_place import mdp as manip_mdp
@@ -393,20 +385,16 @@ def __post_init__(self):
         # Set the URDF and mesh paths for the IK controller
         urdf_omniverse_path = f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_kinematics_asset/g1_29dof_with_hand_only_kinematics.urdf"  # noqa: E501
 
-        # Retrieve local paths for the URDF and mesh files. Will be cached for call after the first time.
-        self.actions.upper_body_ik.controller.urdf_path = retrieve_file_path(urdf_omniverse_path)
-
-        # IsaacTeleop-based teleoperation pipeline
-        # Build the pipeline and extract SE3 retargeters for UI parameter tuning
-        if _TELEOP_AVAILABLE:
-            self.xr = XrCfg(
-                anchor_pos=(0.0, 0.0, -0.45),
-                anchor_rot=(0.0, 0.0, 0.0, 1.0),
-            )
-            pipeline, se3_retargeters = _build_g1_upper_body_pipeline()
-            self.isaac_teleop = IsaacTeleopCfg(
-                pipeline_builder=lambda: pipeline,
-                # retargeters_to_tune=lambda: se3_retargeters,
-                sim_device=self.sim.device,
-                xr_cfg=self.xr,
-            )
+        # Defer Nucleus path resolution to controller initialization at runtime.
+        self.actions.upper_body_ik.controller.urdf_path = urdf_omniverse_path
+
+        # IsaacTeleop-based teleoperation pipeline (resolved lazily at runtime).
+        self.xr = XrCfg(
+            anchor_pos=(0.0, 0.0, -0.45),
+            anchor_rot=(0.0, 0.0, 0.0, 1.0),
+        )
+        self.isaac_teleop = IsaacTeleopCfg(
+            pipeline_builder=_build_g1_upper_body_pipeline,
+            sim_device=self.sim.device,
+            xr_cfg=self.xr,
+        )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
index 552c4d7d942..b27264d8380 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
@@ -25,7 +25,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
 from isaaclab.utils import configclass
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_tasks.manager_based.locomanipulation.pick_place import mdp as locomanip_mdp
 from isaaclab_tasks.manager_based.locomanipulation.pick_place.configs.action_cfg import AgileBasedLowerBodyActionCfg
@@ -438,11 +438,8 @@ def __post_init__(self):
         # scene settings
         self.scene.replicate_physics = False
 
-        # Set the URDF and mesh paths for the IK controller
-        urdf_omniverse_path = f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_kinematics_asset/g1_29dof_with_hand_only_kinematics.urdf"  # noqa: E501
-
-        # Retrieve local paths for the URDF and mesh files. Will be cached for call after the first time.
-        self.actions.upper_body_ik.controller.urdf_path = retrieve_file_path(urdf_omniverse_path)
+        # Set the URDF path for the IK controller. Path resolution (Nucleus → local) happens at runtime.
+        self.actions.upper_body_ik.controller.urdf_path = f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_kinematics_asset/g1_29dof_with_hand_only_kinematics.urdf"  # noqa: E501
 
         if _TELEOP_AVAILABLE:
             self.xr = XrCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/observations.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/observations.py
index 376f196cba8..5e39567efa5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/observations.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/observations.py
@@ -3,10 +3,16 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
 import torch
 import warp as wp
 
-from isaaclab.envs import ManagerBasedRLEnv
+if TYPE_CHECKING:
+    from isaaclab.envs import ManagerBasedRLEnv
+
 from isaaclab.managers import SceneEntityCfg
 
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/terminations.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/terminations.py
index c2f3fd0f8b0..ebdf0c25f61 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/terminations.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/terminations.py
@@ -14,7 +14,6 @@
 
 from isaaclab.assets import RigidObject
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.sim.views import XformPrimView
 from isaaclab.utils.math import quat_apply_inverse
 
 if TYPE_CHECKING:
@@ -70,8 +69,11 @@ def task_done_pick_place_table_frame(
 
     object: RigidObject = env.scene[object_cfg.name]
     table = env.scene[table_cfg.name]
-    if not isinstance(table, XformPrimView):
-        raise TypeError(f"Expected table '{table_cfg.name}' to be an XformPrimView, got {type(table)}")
+    # Avoid importing sim views at module-load time for pure cfg loading.
+    if not hasattr(table, "get_world_poses"):
+        raise TypeError(
+            f"Expected table '{table_cfg.name}' to expose get_world_poses(), got {type(table)}"
+        )
 
     # Get table world pose
     table_pos_w, table_quat_w = table.get_world_poses()
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
index 4d22c35e1f4..163da35de93 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
@@ -3,22 +3,10 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import logging
-
-from pink.tasks import DampingTask, FrameTask
-
-try:
-    from isaaclab_teleop import IsaacTeleopCfg
-
-    _TELEOP_AVAILABLE = True
-except ImportError:
-    _TELEOP_AVAILABLE = False
-    logging.getLogger(__name__).warning("isaaclab_teleop is not installed. XR teleoperation features will be disabled.")
-
-import isaaclab.controllers.utils as ControllerUtils
-from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
+from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.utils import configclass
+from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
 
 from isaaclab_tasks.manager_based.manipulation.pick_place.exhaustpipe_gr1t2_base_env_cfg import (
     ExhaustPipeGR1T2BaseEnvCfg,
@@ -92,24 +80,24 @@ def __post_init__(self):
                 # Determines whether Pink IK solver will fail due to a joint limit violation
                 fail_on_joint_limit_violation=False,
                 variable_input_tasks=[
-                    FrameTask(
-                        "GR1T2_fourier_hand_6dof_left_hand_pitch_link",
+                    FrameTaskCfg(
+                        frame="GR1T2_fourier_hand_6dof_left_hand_pitch_link",
                         position_cost=8.0,  # [cost] / [m]
                         orientation_cost=1.0,  # [cost] / [rad]
                         lm_damping=10,  # dampening for solver for step jumps
                         gain=0.5,
                     ),
-                    FrameTask(
-                        "GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                    FrameTaskCfg(
+                        frame="GR1T2_fourier_hand_6dof_right_hand_pitch_link",
                         position_cost=8.0,  # [cost] / [m]
                         orientation_cost=1.0,  # [cost] / [rad]
                         lm_damping=10,  # dampening for solver for step jumps
                         gain=0.5,
                     ),
-                    DampingTask(
+                    DampingTaskCfg(
                         cost=0.5,  # [cost] * [s] / [rad]
                     ),
-                    NullSpacePostureTask(
+                    NullSpacePostureTaskCfg(
                         cost=0.2,
                         lm_damping=1,
                         controlled_frames=[
@@ -134,20 +122,13 @@ def __post_init__(self):
                 fixed_input_tasks=[],
             ),
         )
-        # Convert USD to URDF and change revolute joints to fixed
-        temp_urdf_output_path, temp_urdf_meshes_output_path = ControllerUtils.convert_usd_to_urdf(
-            self.scene.robot.spawn.usd_path, self.temp_urdf_dir, force_conversion=True
-        )
-
-        # Set the URDF and mesh paths for the IK controller
-        self.actions.gr1_action.controller.urdf_path = temp_urdf_output_path
-        self.actions.gr1_action.controller.mesh_path = temp_urdf_meshes_output_path
+        # Defer USD→URDF conversion to controller initialization (requires Isaac Sim at runtime).
+        self.actions.gr1_action.controller.usd_path = self.scene.robot.spawn.usd_path
+        self.actions.gr1_action.controller.urdf_output_dir = self.temp_urdf_dir
 
-        # IsaacTeleop-based teleoperation pipeline
-        if _TELEOP_AVAILABLE:
-            pipeline = _build_gr1t2_pickplace_pipeline()
-            self.isaac_teleop = IsaacTeleopCfg(
-                pipeline_builder=lambda: pipeline,
-                sim_device=self.sim.device,
-                xr_cfg=self.xr,
-            )
+        # IsaacTeleop-based teleoperation pipeline.
+        self.isaac_teleop = IsaacTeleopCfg(
+            pipeline_builder=lambda: _build_gr1t2_pickplace_pipeline()[0],
+            sim_device=self.sim.device,
+            xr_cfg=self.xr,
+        )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
index 1e05d8b8589..98d7ce2d936 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
@@ -3,22 +3,10 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import logging
-
-from pink.tasks import DampingTask, FrameTask
-
-try:
-    from isaaclab_teleop import IsaacTeleopCfg
-
-    _TELEOP_AVAILABLE = True
-except ImportError:
-    _TELEOP_AVAILABLE = False
-    logging.getLogger(__name__).warning("isaaclab_teleop is not installed. XR teleoperation features will be disabled.")
-
-import isaaclab.controllers.utils as ControllerUtils
-from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
+from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.utils import configclass
+from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
 
 from isaaclab_tasks.manager_based.manipulation.pick_place.nutpour_gr1t2_base_env_cfg import NutPourGR1T2BaseEnvCfg
 from isaaclab_tasks.manager_based.manipulation.pick_place.pickplace_gr1t2_env_cfg import (
@@ -90,24 +78,24 @@ def __post_init__(self):
                 # Determines whether Pink IK solver will fail due to a joint limit violation
                 fail_on_joint_limit_violation=False,
                 variable_input_tasks=[
-                    FrameTask(
-                        "GR1T2_fourier_hand_6dof_left_hand_pitch_link",
+                    FrameTaskCfg(
+                        frame="GR1T2_fourier_hand_6dof_left_hand_pitch_link",
                         position_cost=8.0,  # [cost] / [m]
                         orientation_cost=1.0,  # [cost] / [rad]
                         lm_damping=10,  # dampening for solver for step jumps
                         gain=0.5,
                     ),
-                    FrameTask(
-                        "GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                    FrameTaskCfg(
+                        frame="GR1T2_fourier_hand_6dof_right_hand_pitch_link",
                         position_cost=8.0,  # [cost] / [m]
                         orientation_cost=1.0,  # [cost] / [rad]
                         lm_damping=10,  # dampening for solver for step jumps
                         gain=0.5,
                     ),
-                    DampingTask(
+                    DampingTaskCfg(
                         cost=0.5,  # [cost] * [s] / [rad]
                     ),
-                    NullSpacePostureTask(
+                    NullSpacePostureTaskCfg(
                         cost=0.2,
                         lm_damping=1,
                         controlled_frames=[
@@ -132,20 +120,13 @@ def __post_init__(self):
                 fixed_input_tasks=[],
             ),
         )
-        # Convert USD to URDF and change revolute joints to fixed
-        temp_urdf_output_path, temp_urdf_meshes_output_path = ControllerUtils.convert_usd_to_urdf(
-            self.scene.robot.spawn.usd_path, self.temp_urdf_dir, force_conversion=True
-        )
-
-        # Set the URDF and mesh paths for the IK controller
-        self.actions.gr1_action.controller.urdf_path = temp_urdf_output_path
-        self.actions.gr1_action.controller.mesh_path = temp_urdf_meshes_output_path
+        # Defer USD→URDF conversion to controller initialization (requires Isaac Sim at runtime).
+        self.actions.gr1_action.controller.usd_path = self.scene.robot.spawn.usd_path
+        self.actions.gr1_action.controller.urdf_output_dir = self.temp_urdf_dir
 
-        # IsaacTeleop-based teleoperation pipeline
-        if _TELEOP_AVAILABLE:
-            pipeline = _build_gr1t2_pickplace_pipeline()
-            self.isaac_teleop = IsaacTeleopCfg(
-                pipeline_builder=lambda: pipeline,
-                sim_device=self.sim.device,
-                xr_cfg=self.xr,
-            )
+        # IsaacTeleop-based teleoperation pipeline.
+        self.isaac_teleop = IsaacTeleopCfg(
+            pipeline_builder=lambda: _build_gr1t2_pickplace_pipeline()[0],
+            sim_device=self.sim.device,
+            xr_cfg=self.xr,
+        )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
index dd1edbf7d8b..76739b4b8ae 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
@@ -3,27 +3,15 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import logging
 import os
 import tempfile
 
 import torch
-from pink.tasks import DampingTask, FrameTask
 
-try:
-    import isaacteleop  # noqa: F401  -- pipeline builders need isaacteleop at runtime
-    from isaaclab_teleop import IsaacTeleopCfg, XrCfg
-
-    _TELEOP_AVAILABLE = True
-except ImportError:
-    _TELEOP_AVAILABLE = False
-    logging.getLogger(__name__).warning("isaaclab_teleop is not installed. XR teleoperation features will be disabled.")
-
-import isaaclab.controllers.utils as ControllerUtils
 import isaaclab.envs.mdp as base_mdp
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
-from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
+from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
@@ -39,6 +27,8 @@
 from . import mdp
 
 from isaaclab_assets.robots.fourier import GR1T2_HIGH_PD_CFG  # isort: skip
+from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg  # isort: skip
+from isaaclab_teleop.xr_cfg import XrCfg  # isort: skip
 
 
 def _build_gr1t2_pickplace_pipeline():
@@ -115,9 +105,21 @@ def _build_gr1t2_pickplace_pipeline():
     # DexHand Retargeters (left and right hands)
     # -------------------------------------------------------------------------
     # Resolve dex-retargeting YAML config paths from IsaacLab's retargeter data directory
-    import isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1_t2_dex_retargeting_utils as _dex_utils
-
-    _data_dir = os.path.abspath(os.path.join(os.path.dirname(_dex_utils.__file__), "data"))
+    import isaaclab_teleop.isaac_teleop_cfg as _teleop_cfg_mod
+
+    _teleop_cfg_file = _teleop_cfg_mod.__file__
+    if _teleop_cfg_file is None:
+        raise RuntimeError("Could not resolve isaaclab_teleop package path for dex-retargeting configs.")
+    _teleop_pkg_dir = os.path.dirname(_teleop_cfg_file)
+    _data_dir = os.path.join(
+        _teleop_pkg_dir,
+        "deprecated",
+        "openxr",
+        "retargeters",
+        "humanoid",
+        "fourier",
+        "data",
+    )
     _config_dir = os.path.join(_data_dir, "configs", "dex-retargeting")
     left_yaml_path = os.path.join(_config_dir, "fourier_hand_left_dexpilot.yml")
     right_yaml_path = os.path.join(_config_dir, "fourier_hand_right_dexpilot.yml")
@@ -401,24 +403,24 @@ class ActionsCfg:
             # Determines whether Pink IK solver will fail due to a joint limit violation
             fail_on_joint_limit_violation=False,
             variable_input_tasks=[
-                FrameTask(
-                    "GR1T2_fourier_hand_6dof_left_hand_pitch_link",
+                FrameTaskCfg(
+                    frame="GR1T2_fourier_hand_6dof_left_hand_pitch_link",
                     position_cost=8.0,  # [cost] / [m]
                     orientation_cost=1.0,  # [cost] / [rad]
                     lm_damping=12,  # dampening for solver for step jumps
                     gain=0.5,
                 ),
-                FrameTask(
-                    "GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                FrameTaskCfg(
+                    frame="GR1T2_fourier_hand_6dof_right_hand_pitch_link",
                     position_cost=8.0,  # [cost] / [m]
                     orientation_cost=1.0,  # [cost] / [rad]
                     lm_damping=12,  # dampening for solver for step jumps
                     gain=0.5,
                 ),
-                DampingTask(
+                DampingTaskCfg(
                     cost=0.5,  # [cost] * [s] / [rad]
                 ),
-                NullSpacePostureTask(
+                NullSpacePostureTaskCfg(
                     cost=0.5,
                     lm_damping=1,
                     controlled_frames=[
@@ -597,27 +599,17 @@ def __post_init__(self):
         # scene settings
         self.scene.replicate_physics = False
 
-        # Convert USD to URDF and change revolute joints to fixed
-        temp_urdf_output_path, temp_urdf_meshes_output_path = ControllerUtils.convert_usd_to_urdf(
-            self.scene.robot.spawn.usd_path, self.temp_urdf_dir, force_conversion=True
-        )
+        # Defer USD→URDF conversion to controller initialization (requires Isaac Sim at runtime).
+        self.actions.upper_body_ik.controller.usd_path = self.scene.robot.spawn.usd_path
+        self.actions.upper_body_ik.controller.urdf_output_dir = self.temp_urdf_dir
 
-        # Set the URDF and mesh paths for the IK controller
-        self.actions.upper_body_ik.controller.urdf_path = temp_urdf_output_path
-        self.actions.upper_body_ik.controller.mesh_path = temp_urdf_meshes_output_path
-
-        # IsaacTeleop-based teleoperation pipeline
-        # Both are wrapped in lambdas so they survive @configclass deepcopy
-        # (retargeters contain non-picklable SWIG handles).
-        if _TELEOP_AVAILABLE:
-            self.xr = XrCfg(
-                anchor_pos=(0.0, 0.0, 0.0),
-                anchor_rot=(0.0, 0.0, 0.0, 1.0),
-            )
-            pipeline, retargeters = _build_gr1t2_pickplace_pipeline()
-            self.isaac_teleop = IsaacTeleopCfg(
-                pipeline_builder=lambda: pipeline,
-                # retargeters_to_tune=lambda: retargeters,
-                sim_device=self.sim.device,
-                xr_cfg=self.xr,
-            )
+        # IsaacTeleop-based teleoperation pipeline.
+        self.xr = XrCfg(
+            anchor_pos=(0.0, 0.0, 0.0),
+            anchor_rot=(0.0, 0.0, 0.0, 1.0),
+        )
+        self.isaac_teleop = IsaacTeleopCfg(
+            pipeline_builder=lambda: _build_gr1t2_pickplace_pipeline()[0],
+            sim_device=self.sim.device,
+            xr_cfg=self.xr,
+        )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
index ba27679831f..8d247289525 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
@@ -3,20 +3,12 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import logging
 import tempfile
 
-try:
-    from isaaclab_teleop import IsaacTeleopCfg, XrCfg
-
-    _TELEOP_AVAILABLE = True
-except ImportError:
-    _TELEOP_AVAILABLE = False
-    logging.getLogger(__name__).warning("isaaclab_teleop is not installed. XR teleoperation features will be disabled.")
-
-import isaaclab.controllers.utils as ControllerUtils
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.utils import configclass
+from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
+from isaaclab_teleop.xr_cfg import XrCfg
 
 from .pickplace_gr1t2_env_cfg import (
     ActionsCfg,
@@ -63,25 +55,17 @@ def __post_init__(self):
         for joint_name in waist_joint_names:
             self.actions.upper_body_ik.pink_controlled_joint_names.append(joint_name)
 
-        # Convert USD to URDF and change revolute joints to fixed
-        temp_urdf_output_path, temp_urdf_meshes_output_path = ControllerUtils.convert_usd_to_urdf(
-            self.scene.robot.spawn.usd_path, self.temp_urdf_dir, force_conversion=True
-        )
-
-        # Set the URDF and mesh paths for the IK controller
-        self.actions.upper_body_ik.controller.urdf_path = temp_urdf_output_path
-        self.actions.upper_body_ik.controller.mesh_path = temp_urdf_meshes_output_path
+        # Defer USD→URDF conversion to controller initialization (requires Isaac Sim at runtime).
+        self.actions.upper_body_ik.controller.usd_path = self.scene.robot.spawn.usd_path
+        self.actions.upper_body_ik.controller.urdf_output_dir = self.temp_urdf_dir
 
-        # IsaacTeleop-based teleoperation pipeline
-        if _TELEOP_AVAILABLE:
-            self.xr = XrCfg(
-                anchor_pos=(0.0, 0.0, 0.0),
-                anchor_rot=(0.0, 0.0, 0.0, 1.0),
-            )
-            pipeline, retargeters = _build_gr1t2_pickplace_pipeline()
-            self.isaac_teleop = IsaacTeleopCfg(
-                pipeline_builder=lambda: pipeline,
-                # retargeters_to_tune=lambda: retargeters,
-                sim_device=self.sim.device,
-                xr_cfg=self.xr,
-            )
+        # IsaacTeleop-based teleoperation pipeline.
+        self.xr = XrCfg(
+            anchor_pos=(0.0, 0.0, 0.0),
+            anchor_rot=(0.0, 0.0, 0.0, 1.0),
+        )
+        self.isaac_teleop = IsaacTeleopCfg(
+            pipeline_builder=lambda: _build_gr1t2_pickplace_pipeline()[0],
+            sim_device=self.sim.device,
+            xr_cfg=self.xr,
+        )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
index 9f7fb2289fe..4527465d17f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
@@ -2,27 +2,18 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-import logging
 import os
 import tempfile
 
 import torch
-from pink.tasks import FrameTask
 
-try:
-    import isaacteleop  # noqa: F401  -- pipeline builders need isaacteleop at runtime
-    from isaaclab_teleop import IsaacTeleopCfg, XrCfg
+from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
+from isaaclab_teleop.xr_cfg import XrCfg
 
-    _TELEOP_AVAILABLE = True
-except ImportError:
-    _TELEOP_AVAILABLE = False
-    logging.getLogger(__name__).warning("isaaclab_teleop is not installed. XR teleoperation features will be disabled.")
-
-import isaaclab.controllers.utils as ControllerUtils
 import isaaclab.envs.mdp as base_mdp
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
-from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
+from isaaclab.controllers.pink_ik import FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
@@ -406,21 +397,21 @@ class ActionsCfg:
             show_ik_warnings=False,
             fail_on_joint_limit_violation=False,
             variable_input_tasks=[
-                FrameTask(
-                    "g1_29dof_rev_1_0_left_wrist_yaw_link",
+                FrameTaskCfg(
+                    frame="g1_29dof_rev_1_0_left_wrist_yaw_link",
                     position_cost=8.0,  # [cost] / [m]
                     orientation_cost=2.0,  # [cost] / [rad]
                     lm_damping=10,  # dampening for solver for step jumps
                     gain=0.5,
                 ),
-                FrameTask(
-                    "g1_29dof_rev_1_0_right_wrist_yaw_link",
+                FrameTaskCfg(
+                    frame="g1_29dof_rev_1_0_right_wrist_yaw_link",
                     position_cost=8.0,  # [cost] / [m]
                     orientation_cost=2.0,  # [cost] / [rad]
                     lm_damping=10,  # dampening for solver for step jumps
                     gain=0.5,
                 ),
-                NullSpacePostureTask(
+                NullSpacePostureTaskCfg(
                     cost=0.5,
                     lm_damping=1,
                     controlled_frames=[
@@ -596,24 +587,17 @@ def __post_init__(self):
         self.sim.dt = 1 / 120  # 120Hz
         self.sim.render_interval = 2
 
-        # Convert USD to URDF and change revolute joints to fixed
-        temp_urdf_output_path, temp_urdf_meshes_output_path = ControllerUtils.convert_usd_to_urdf(
-            self.scene.robot.spawn.usd_path, self.temp_urdf_dir, force_conversion=True
-        )
+        # Defer USD→URDF conversion to controller initialization (requires Isaac Sim at runtime).
+        self.actions.pink_ik_cfg.controller.usd_path = self.scene.robot.spawn.usd_path
+        self.actions.pink_ik_cfg.controller.urdf_output_dir = self.temp_urdf_dir
 
-        # Set the URDF and mesh paths for the IK controller
-        self.actions.pink_ik_cfg.controller.urdf_path = temp_urdf_output_path
-        self.actions.pink_ik_cfg.controller.mesh_path = temp_urdf_meshes_output_path
-
-        # IsaacTeleop-based teleoperation pipeline
-        if _TELEOP_AVAILABLE:
-            self.xr = XrCfg(
-                anchor_pos=(0.0, 0.0, 0.0),
-                anchor_rot=(0.0, 0.0, 0.0, 1.0),
-            )
-            pipeline = _build_g1_inspire_pickplace_pipeline()
-            self.isaac_teleop = IsaacTeleopCfg(
-                pipeline_builder=lambda: pipeline,
-                sim_device=self.sim.device,
-                xr_cfg=self.xr,
-            )
+        # IsaacTeleop-based teleoperation pipeline (resolved lazily at runtime).
+        self.xr = XrCfg(
+            anchor_pos=(0.0, 0.0, 0.0),
+            anchor_rot=(0.0, 0.0, 0.0, 1.0),
+        )
+        self.isaac_teleop = IsaacTeleopCfg(
+            pipeline_builder=_build_g1_inspire_pickplace_pipeline,
+            sim_device=self.sim.device,
+            xr_cfg=self.xr,
+        )

From 0a8e16dd077926ff39fdab83d818cd121be893ae Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Thu, 26 Feb 2026 01:39:55 -0800
Subject: [PATCH 2/2] pass precommit

---
 source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py  | 1 -
 .../isaaclab/controllers/pink_ik/local_frame_task.py         | 2 --
 source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py      | 2 +-
 source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py  | 1 +
 .../isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py   | 1 -
 source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py   | 1 -
 source/isaaclab/test/controllers/test_local_frame_task.py    | 2 +-
 source/isaaclab/test/controllers/test_pink_ik.py             | 4 +++-
 .../locomanipulation/pick_place/mdp/terminations.py          | 4 +---
 .../pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py          | 3 ++-
 .../manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py | 3 ++-
 .../pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py      | 5 +++--
 .../pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py  | 1 -
 13 files changed, 14 insertions(+), 16 deletions(-)

diff --git a/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py b/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
index 36f157c6f63..8245b0e50ab 100644
--- a/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
@@ -58,4 +58,3 @@ class JointImpedanceControllerCfg:
 
     Note: Used only when :obj:`impedance_mode` is "variable".
     """
-
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/local_frame_task.py b/source/isaaclab/isaaclab/controllers/pink_ik/local_frame_task.py
index def3bcb12d2..69413e5dbfd 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/local_frame_task.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/local_frame_task.py
@@ -18,5 +18,3 @@
     DeprecationWarning,
     stacklevel=2,
 )
-
-from .pink_tasks import DampingTask, FrameTask, LocalFrameTask
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
index c7d1022cf8a..c4ef2deaeec 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
@@ -27,8 +27,8 @@
 from isaaclab.utils.string import resolve_matching_names_values
 
 from .null_space_posture_task import NullSpacePostureTask
-from .pink_task_cfg import PinkIKTaskCfg
 from .pink_kinematics_configuration import PinkKinematicsConfiguration
+from .pink_task_cfg import PinkIKTaskCfg
 
 if TYPE_CHECKING:
     from .pink_ik_cfg import PinkIKControllerCfg
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
index 3d37c4d9512..bb0839fcf1b 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
@@ -11,6 +11,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.utils import configclass
+
 from .pink_task_cfg import PinkIKTaskCfg
 
 if TYPE_CHECKING:
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
index efcf3a0e914..0955fba6782 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
@@ -64,4 +64,3 @@ class NullSpacePostureTaskCfg(PinkIKTaskCfg):
     controlled_frames: list[str] = field(default_factory=list)
     controlled_joints: list[str] = field(default_factory=list)
     class_type: str | type | None = "isaaclab.controllers.pink_ik.null_space_posture_task:NullSpacePostureTask"
-
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py
index 84bb60a3a8e..bd653d606d6 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_tasks.py
@@ -120,4 +120,3 @@ def compute_jacobian(self, configuration: PinkKinematicsConfiguration) -> np.nda
         jacobian_in_frame = configuration.get_frame_jacobian(self.frame)
         J = -pin.Jlog6(transform_frame_to_target) @ jacobian_in_frame
         return J
-
diff --git a/source/isaaclab/test/controllers/test_local_frame_task.py b/source/isaaclab/test/controllers/test_local_frame_task.py
index 5e7304d9372..e3ebec56c27 100644
--- a/source/isaaclab/test/controllers/test_local_frame_task.py
+++ b/source/isaaclab/test/controllers/test_local_frame_task.py
@@ -16,8 +16,8 @@
 import pinocchio as pin
 import pytest
 
-from isaaclab.controllers.pink_ik.pink_tasks import LocalFrameTask
 from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
+from isaaclab.controllers.pink_ik.pink_tasks import LocalFrameTask
 
 # class TestLocalFrameTask:
 #     """Test suite for LocalFrameTask class."""
diff --git a/source/isaaclab/test/controllers/test_pink_ik.py b/source/isaaclab/test/controllers/test_pink_ik.py
index c42b9b63f59..9913c76f7dc 100644
--- a/source/isaaclab/test/controllers/test_pink_ik.py
+++ b/source/isaaclab/test/controllers/test_pink_ik.py
@@ -96,7 +96,9 @@ def env_and_cfg(request):
 
     # Read instantiated task objects from the live action term/controller, not raw cfg wrappers.
     action_term = env.action_manager.get_term(name="upper_body_ik")
-    variable_input_tasks = [task for task in action_term._ik_controllers[0].cfg.variable_input_tasks if isinstance(task, FrameTask)]
+    variable_input_tasks = [
+        task for task in action_term._ik_controllers[0].cfg.variable_input_tasks if isinstance(task, FrameTask)
+    ]
     assert len(variable_input_tasks) == 2, "Expected exactly two FrameTasks (left and right hand)."
     frames = [task.frame for task in variable_input_tasks]
     # Try to infer which is left and which is right
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/terminations.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/terminations.py
index ebdf0c25f61..ec42385377c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/terminations.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/terminations.py
@@ -71,9 +71,7 @@ def task_done_pick_place_table_frame(
     table = env.scene[table_cfg.name]
     # Avoid importing sim views at module-load time for pure cfg loading.
     if not hasattr(table, "get_world_poses"):
-        raise TypeError(
-            f"Expected table '{table_cfg.name}' to expose get_world_poses(), got {type(table)}"
-        )
+        raise TypeError(f"Expected table '{table_cfg.name}' to expose get_world_poses(), got {type(table)}")
 
     # Get table world pose
     table_pos_w, table_quat_w = table.get_world_poses()
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
index 163da35de93..3dd523de27f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
@@ -3,10 +3,11 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
+
 from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.utils import configclass
-from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
 
 from isaaclab_tasks.manager_based.manipulation.pick_place.exhaustpipe_gr1t2_base_env_cfg import (
     ExhaustPipeGR1T2BaseEnvCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
index 98d7ce2d936..db242eee50a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
@@ -3,10 +3,11 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
+
 from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.utils import configclass
-from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
 
 from isaaclab_tasks.manager_based.manipulation.pick_place.nutpour_gr1t2_base_env_cfg import NutPourGR1T2BaseEnvCfg
 from isaaclab_tasks.manager_based.manipulation.pick_place.pickplace_gr1t2_env_cfg import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
index 8d247289525..1c9f19bb302 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
@@ -5,11 +5,12 @@
 
 import tempfile
 
-from isaaclab.envs import ManagerBasedRLEnvCfg
-from isaaclab.utils import configclass
 from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
 from isaaclab_teleop.xr_cfg import XrCfg
 
+from isaaclab.envs import ManagerBasedRLEnvCfg
+from isaaclab.utils import configclass
+
 from .pickplace_gr1t2_env_cfg import (
     ActionsCfg,
     EventCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
index 4527465d17f..6622f8c21c3 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
@@ -6,7 +6,6 @@
 import tempfile
 
 import torch
-
 from isaaclab_teleop.isaac_teleop_cfg import IsaacTeleopCfg
 from isaaclab_teleop.xr_cfg import XrCfg