Use lazy export for DR legs tasks

Author: rubengrandia

source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/mdp/__init__.py

@@ -9,7 +9,6 @@
 DR-Legs-specific terms that have no stock equivalent.
 """
 
-from isaaclab.envs.mdp import *  # noqa: F401, F403
+from isaaclab.utils.module import lazy_export
 
-from .observations import *  # noqa: F401, F403
-from .rewards import *  # noqa: F401, F403
+lazy_export()

source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/mdp/__init__.pyi

@@ -0,0 +1,38 @@
+# 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
+
+__all__ = [
+    # observations
+    "gait_phase",
+    "joint_position_setpoints",
+    # rewards
+    "ActionRate2L2",
+    "base_ang_vel_l2",
+    "base_lin_vel_l2",
+    "contact_matching",
+    "feet_flat",
+    "feet_parallel",
+    "feet_touchdown_vel",
+    "foot_clearance",
+    "joint_pd_command_l2",
+    "joint_pos_tracking_exp",
+    "root_orientation_exp",
+]
+
+from .observations import gait_phase, joint_position_setpoints
+from .rewards import (
+    ActionRate2L2,
+    base_ang_vel_l2,
+    base_lin_vel_l2,
+    contact_matching,
+    feet_flat,
+    feet_parallel,
+    feet_touchdown_vel,
+    foot_clearance,
+    joint_pd_command_l2,
+    joint_pos_tracking_exp,
+    root_orientation_exp,
+)
+from isaaclab.envs.mdp import *