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Adds event manager call to simple manage-based env #666

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Merged
merged 6 commits into from
Jul 13, 2024
Merged

Adds event manager call to simple manage-based env #666

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7fd6217
fixes type-hint for event manager
Mayankm96 Jul 10, 2024
b931579
hacks startup call into base env
Mayankm96 Jul 10, 2024
fc9968d
Fix type hint
Jul 12, 2024
f3858b3
Update test timeouts
Jul 12, 2024
65300da
Merge branch 'main' into fix/event-man
Mayankm96 Jul 13, 2024
4be469f
updates version log
Mayankm96 Jul 13, 2024
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6 changes: 6 additions & 0 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py
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Expand Up @@ -223,6 +223,12 @@ def load_managers(self):
self.event_manager = EventManager(self.cfg.events, self)
print("[INFO] Event Manager: ", self.event_manager)

# perform events at the start of the simulation
# in-case a child implementation creates other managers, the randomization should happen
# when all the other managers are created
if self.__class__ == ManagerBasedEnv and "startup" in self.event_manager.available_modes:
self.event_manager.apply(mode="startup")

"""
Operations - MDP.
"""
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4 changes: 4 additions & 0 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py
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Expand Up @@ -107,8 +107,10 @@ def load_managers(self):
# -- command manager
self.command_manager: CommandManager = CommandManager(self.cfg.commands, self)
print("[INFO] Command Manager: ", self.command_manager)

# call the parent class to load the managers for observations and actions.
super().load_managers()

# prepare the managers
# -- termination manager
self.termination_manager = TerminationManager(self.cfg.terminations, self)
Expand All @@ -119,8 +121,10 @@ def load_managers(self):
# -- curriculum manager
self.curriculum_manager = CurriculumManager(self.cfg.curriculum, self)
print("[INFO] Curriculum Manager: ", self.curriculum_manager)

# setup the action and observation spaces for Gym
self._configure_gym_env_spaces()

# perform events at the start of the simulation
if "startup" in self.event_manager.available_modes:
self.event_manager.apply(mode="startup")
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6 changes: 3 additions & 3 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py
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Expand Up @@ -19,7 +19,7 @@
from .manager_term_cfg import EventTermCfg

if TYPE_CHECKING:
from omni.isaac.lab.envs import ManagerBasedRLEnv
from omni.isaac.lab.envs import ManagerBasedEnv


class EventManager(ManagerBase):
Expand Down Expand Up @@ -53,10 +53,10 @@ class EventManager(ManagerBase):

"""

_env: ManagerBasedRLEnv
_env: ManagerBasedEnv
"""The environment instance."""

def __init__(self, cfg: object, env: ManagerBasedRLEnv):
def __init__(self, cfg: object, env: ManagerBasedEnv):
"""Initialize the event manager.

Args:
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