revert debug and testing codes in cartpole examples

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -11,7 +11,7 @@
 import carb
 import omni.isaac.core.utils.torch as torch_utils
 
-from omni.isaac.lab.managers import ActionManager, ManagerLiveVisualizer, EventManager, ObservationManager
+from omni.isaac.lab.managers import ActionManager, EventManager, ManagerLiveVisualizer, ObservationManager
 from omni.isaac.lab.scene import InteractiveScene
 from omni.isaac.lab.sim import SimulationContext
 from omni.isaac.lab.utils.timer import Timer
@@ -228,8 +228,8 @@ def setup_manager_visualizers(self):
         """Creates live visualizers for manager terms."""
 
         self.manager_visualizers = {
-            "action_manager" : ManagerLiveVisualizer(manager=self.action_manager),
-            "observation_manager" : ManagerLiveVisualizer(manager=self.observation_manager),
+            "action_manager": ManagerLiveVisualizer(manager=self.action_manager),
+            "observation_manager": ManagerLiveVisualizer(manager=self.observation_manager),
         }
 
     """
@@ -383,4 +383,3 @@ def _reset_idx(self, env_ids: Sequence[int]):
         # -- event manager
         info = self.event_manager.reset(env_ids)
         self.extras["log"].update(info)
-

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py

@@ -12,7 +12,6 @@
 from dataclasses import MISSING
 
 import omni.isaac.lab.envs.mdp as mdp
-from omni.isaac.lab.managers import DefaultManagerBasedEnvLiveVisCfg
 from omni.isaac.lab.managers import EventTermCfg as EventTerm
 from omni.isaac.lab.scene import InteractiveSceneCfg
 from omni.isaac.lab.sim import SimulationCfg

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py

@@ -142,8 +142,8 @@ def setup_manager_visualizers(self):
         """Creates live visualizers for manager terms."""
 
         self.manager_visualizers = {
-            "action_manager" : ManagerLiveVisualizer(manager=self.action_manager),
-            "observation_manager" : ManagerLiveVisualizer(manager=self.observation_manager),
+            "action_manager": ManagerLiveVisualizer(manager=self.action_manager),
+            "observation_manager": ManagerLiveVisualizer(manager=self.observation_manager),
             "command_manager": ManagerLiveVisualizer(manager=self.command_manager),
             "termination_manager": ManagerLiveVisualizer(manager=self.termination_manager),
             "reward_manager": ManagerLiveVisualizer(manager=self.reward_manager),

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env_cfg.py

@@ -5,7 +5,6 @@
 
 from dataclasses import MISSING
 
-from omni.isaac.lab.managers import DefaultManagerBasedRLEnvLiveVisCfg
 from omni.isaac.lab.utils import configclass
 
 from .manager_based_env_cfg import ManagerBasedEnvCfg

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py

@@ -19,7 +19,6 @@
 from omni.isaac.lab.managers import SceneEntityCfg
 from omni.isaac.lab.sensors import Camera, RayCaster, RayCasterCamera, TiledCamera
 
-
 if TYPE_CHECKING:
     from omni.isaac.lab.envs import ManagerBasedEnv, ManagerBasedRLEnv
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py

@@ -16,7 +16,6 @@
 import omni.usd
 from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics
 
-# from omni.isaac.lab.ui.widgets.ui_visualizer_mixin import UiVisualizerMixin
 from omni.isaac.lab.managers import ManagerLiveVisualizer
 
 if TYPE_CHECKING:
@@ -261,7 +260,6 @@ def _visualize_manager(self, title: str, class_name: str) -> None:
         else:
             print(f"ManagerLiveVisualizer cannot be created for manager: {class_name}, Manager does not exist")
 
-
     """
     Custom callbacks for UI elements.
     """

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py

@@ -15,12 +15,7 @@
 from .curriculum_manager import CurriculumManager
 from .event_manager import EventManager
 from .manager_base import ManagerBase, ManagerTermBase
-from .manager_live_visualizer import (
-    DefaultManagerBasedEnvLiveVisCfg,
-    DefaultManagerBasedRLEnvLiveVisCfg,
-    EnvLiveVisualizer,
-    ManagerLiveVisualizer,
-)
+from .manager_live_visualizer import ManagerLiveVisualizer
 from .manager_term_cfg import (
     ActionTermCfg,
     CommandTermCfg,

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py

@@ -258,7 +258,7 @@ def get_active_iterable_terms(self, env_idx: int) -> Sequence[tuple[str, Sequenc
         """Returns the active terms as iterable sequence of tuples.
         The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.
         Args:
-            env_idx: The specific environment to pull the active terms from. 
+            env_idx: The specific environment to pull the active terms from.
         Returns:
             The active terms.
         """

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py

@@ -295,7 +295,7 @@ def get_active_iterable_terms(self, env_idx: int) -> Sequence[tuple[str, Sequenc
         """Returns the active terms as iterable sequence of tuples.
         The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.
         Args:
-            env_idx: The specific environment to pull the active terms from. 
+            env_idx: The specific environment to pull the active terms from.
         Returns:
             The active terms.
         """

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py

@@ -135,7 +135,7 @@ def get_active_iterable_terms(self, env_idx: int) -> Sequence[tuple[str, Sequenc
         """Returns the active terms as iterable sequence of tuples.
         The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.
         Args:
-            env_idx: The specific environment to pull the active terms from. 
+            env_idx: The specific environment to pull the active terms from.
         Returns:
             The active terms.
         """

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py

@@ -125,7 +125,7 @@ def get_active_iterable_terms(self, env_idx: int) -> Sequence[tuple[str, Sequenc
         """Returns the active terms as iterable sequence of tuples.
         The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.
         Args:
-            env_idx: The specific environment to pull the active terms from. 
+            env_idx: The specific environment to pull the active terms from.
         Returns:
             The active terms.
         """

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py

@@ -190,7 +190,7 @@ def get_active_iterable_terms(self, env_idx: int) -> Sequence[tuple[str, Sequenc
         """Returns the active terms as iterable sequence of tuples.
         The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.
         Args:
-            env_idx: The specific environment to pull the active terms from. 
+            env_idx: The specific environment to pull the active terms from.
         Returns:
             The active terms.
         """

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py

@@ -182,7 +182,7 @@ def get_active_iterable_terms(self, env_idx: int) -> Sequence[tuple[str, Sequenc
         """Returns the active terms as iterable sequence of tuples.
         The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.
         Args:
-            env_idx: The specific environment to pull the active terms from. 
+            env_idx: The specific environment to pull the active terms from.
         Returns:
             The active terms.
         """

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py

@@ -15,7 +15,6 @@
 from omni.isaac.lab.managers import SceneEntityCfg
 from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
 from omni.isaac.lab.scene import InteractiveSceneCfg
-from omni.isaac.lab.sensors import CameraCfg
 from omni.isaac.lab.utils import configclass
 
 import omni.isaac.lab_tasks.manager_based.classic.cartpole.mdp as mdp
@@ -55,18 +54,6 @@ class CartpoleSceneCfg(InteractiveSceneCfg):
         init_state=AssetBaseCfg.InitialStateCfg(rot=(0.738, 0.477, 0.477, 0.0)),
     )
 
-    camera = CameraCfg(
-        prim_path="{ENV_REGEX_NS}/Robot/front_cam",
-        update_period=0.1,
-        height=150,
-        width=150,
-        data_types=["distance_to_image_plane"],
-        spawn=sim_utils.PinholeCameraCfg(
-            focal_length=24.0, focus_distance=400.0, horizontal_aperture=60.0, clipping_range=(0.1, 1)
-        ),
-        offset=CameraCfg.OffsetCfg(pos=(-0.5, 0.0, 0.015), rot=(0.5, -0.5, 0.5, -0.5), convention="ros"),
-    )
-
 
 ##
 # MDP settings

source/standalone/tutorials/03_envs/create_cartpole_base_env.py

@@ -67,15 +67,8 @@ def __post_init__(self) -> None:
             self.enable_corruption = False
             self.concatenate_terms = True
 
-    @configclass
-    class PerceptionCfg(ObsGroup):
-        """Observation for perception group."""
-
-        depth_image = ObsTerm(func=mdp.camera_depth_image, params={"sensor_cfg": SceneEntityCfg("camera")})
-
     # observation groups
     policy: PolicyCfg = PolicyCfg()
-    perception: PerceptionCfg = PerceptionCfg()
 
 
 @configclass
@@ -160,7 +153,7 @@ def main():
             # step the environment
             obs, _ = env.step(joint_efforts)
             # print current orientation of pole
-            # print("[Env 0]: Pole joint: ", obs["policy"][0][1].item())
+            print("[Env 0]: Pole joint: ", obs["policy"][0][1].item())
             # update counter
             count += 1