Renames `RandomizationManager` to `EventManager` (#460)

# Description

Renames the `RandomizationManager` to `EventManager` for clarity as the
manager takes care of all kind of events that go beyond pure
randomization (such as resets).

Fixes #413

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/api/orbit/omni.isaac.orbit.envs.mdp.rst

@@ -19,10 +19,10 @@ Actions
     :show-inheritance:
     :exclude-members: __init__, class_type
 
-Randomization
--------------
+Events
+------
 
-.. automodule:: omni.isaac.orbit.envs.mdp.randomizations
+.. automodule:: omni.isaac.orbit.envs.mdp.events
     :members:
 
 Commands

docs/source/api/orbit/omni.isaac.orbit.managers.rst

@@ -17,8 +17,8 @@
     ActionManager
     ActionTerm
     ActionTermCfg
-    RandomizationManager
-    RandomizationTermCfg
+    EventManager
+    EventTermCfg
     CommandManager
     CommandTerm
     CommandTermCfg
@@ -82,9 +82,25 @@ Action Manager
     :members:
     :exclude-members: __init__
 
+Event Manager
+-------------
+
+.. autoclass:: EventManager
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: EventTermCfg
+    :members:
+    :exclude-members: __init__
+
 Randomization Manager
 ---------------------
 
+.. deprecated:: v0.3
+    The Randomization Manager is deprecated and will be removed in v0.4.
+    Please use the :class:`EventManager` class instead.
+
 .. autoclass:: RandomizationManager
     :members:
     :inherited-members:

docs/source/tutorials/03_envs/create_base_env.rst

@@ -7,7 +7,7 @@ Creating a Base Environment
 .. currentmodule:: omni.isaac.orbit
 
 Environments bring together different aspects of the simulation such as
-the scene, observations and actions spaces, randomizations, etc. to create a
+the scene, observations and actions spaces, reset events etc. to create a
 coherent interface for various applications. In Orbit, environments are
 implemented as :class:`envs.BaseEnv` and :class:`envs.RLTaskEnv` classes.
 The two classes are very similar, but :class:`envs.RLTaskEnv` is useful for
@@ -46,7 +46,8 @@ is composed of the following components:
 * :class:`scene.InteractiveScene` - The scene that is used for the simulation.
 * :class:`managers.ActionManager` - The manager that handles actions.
 * :class:`managers.ObservationManager` - The manager that handles observations.
-* :class:`managers.RandomizationManager` - The manager that handles randomizations.
+* :class:`managers.EventManager` - The manager that schedules operations (such as domain randomization)
+  at specified simulation events. For instance, at startup, on resets, or periodic intervals.
 
 By configuring these components, the user can create different variations of the same environment
 with minimal effort. In this tutorial, we will go through the different components of the
@@ -110,40 +111,42 @@ default values for this tutorial.
    :language: python
    :pyobject: ObservationsCfg
 
-Defining randomizations
------------------------
+Defining events
+---------------
 
 At this point, we have defined the scene, actions and observations for the cartpole environment.
 The general idea for all these components is to define the configuration classes and then
-pass them to the corresponding managers. The randomization manager is no different.
+pass them to the corresponding managers. The event manager is no different.
 
-The :class:`managers.RandomizationManager` class is responsible for randomizing everything related
-to the simulation state. This includes randomizing (or resetting) the scene, randomizing physical
-properties (such as mass, friction, etc.), and visual properties (such as colors, textures, etc.).
-Each of these are specified through the :class:`managers.RandomizationTermCfg` class, which
-takes in the :attr:`managers.RandomizationTermCfg.func` that specifies the function or callable
-class that performs the randomization. Additionally, it expects the **mode** of randomization.
-The mode specifies when the randomization term should be applied. It is possible to specify
-your own mode, but Orbit provides three modes out of the box:
+The :class:`managers.EventManager` class is responsible for events corresponding to changes
+in the simulation state. This includes resetting (or randomizing) the scene, randomizing physical
+properties (such as mass, friction, etc.), and varying visual properties (such as colors, textures, etc.).
+Each of these are specified through the :class:`managers.EventTermCfg` class, which
+takes in the :attr:`managers.EventTermCfg.func` that specifies the function or callable
+class that performs the event.
 
-* ``"startup"`` - Randomize only once at environment startup.
-* ``"reset"`` - Randomize on every call to an environment's reset.
-* ``"interval"`` - Randomize at a given fixed interval.
+Additionally, it expects the **mode** of the event. The mode specifies when the event term should be applied.
+It is possible to specify your own mode. For this, you'll need to adapt the :class:`~envs.BaseEnv` class.
+However, out of the box, Orbit provides three commonly used modes:
 
-For this example, we randomize the pole's mass on startup. This is done only once since this operation
-is expensive and we don't want to do it on every reset. We also randomize the initial joint state of
-the cartpole and the pole at every reset.
+* ``"startup"`` - Event that takes place only once at environment startup.
+* ``"reset"`` - Event that occurs on environment termination and reset.
+* ``"interval"`` - Event that are executed at a given interval, i.e., periodically after a certain number of steps.
+
+For this example, we define events that randomize the pole's mass on startup. This is done only once since this
+operation is expensive and we don't want to do it on every reset. We also create an event to randomize the initial
+joint state of the cartpole and the pole at every reset.
 
 .. literalinclude:: ../../../../source/standalone/tutorials/03_envs/create_cartpole_base_env.py
    :language: python
-   :pyobject: RandomizationCfg
+   :pyobject: EventCfg
 
 Tying it all together
 ---------------------
 
 Having defined the scene and manager configurations, we can now define the environment configuration
 through the :class:`envs.BaseEnvCfg` class. This class takes in the scene, action, observation and
-randomization configurations.
+event configurations.
 
 In addition to these, it also takes in the :attr:`envs.BaseEnvCfg.sim` which defines the simulation
 parameters such as the timestep, gravity, etc. This is initialized to the default values, but can

docs/source/tutorials/03_envs/create_rl_env.rst

@@ -57,7 +57,7 @@ The Code Explained
 ~~~~~~~~~~~~~~~~~~
 
 We already went through parts of the above in the :ref:`tutorial-create-base-env` tutorial to learn
-about how to specify the scene, observations, actions and randomizations. Thus, in this tutorial, we
+about how to specify the scene, observations, actions and events. Thus, in this tutorial, we
 will focus only on the RL components of the environment.
 
 In Orbit, we provide various implementations of different terms in the :mod:`envs.mdp` module. We will use

source/extensions/omni.isaac.orbit/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.14.1"
+version = "0.15.0"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.15.0 (2024-03-17)
+~~~~~~~~~~~~~~~~~~~
+
+Deprecated
+^^^^^^^^^^
+
+* Renamed :class:`omni.isaac.orbit.managers.RandomizationManager` to :class:`omni.isaac.orbit.managers.EventManager`
+  class for clarification as the manager takes care of events such as reset in addition to pure randomizations.
+* Renamed :class:`omni.isaac.orbit.managers.RandomizationTermCfg` to :class:`omni.isaac.orbit.managers.EventTermCfg`
+  for consistency with the class name change.
+
+
 0.14.1 (2024-03-16)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py

@@ -156,11 +156,11 @@ class Articulation(RigidObject):
             However, this led to confusion with the link ordering as they were not ordered in the same way as the
             articulation view.
 
-            Therefore, this attribute will be removed in v0.3.0. Please use the :attr:`root_physx_view` attribute
+            Therefore, this attribute will be removed in v0.4.0. Please use the :attr:`root_physx_view` attribute
             instead.
 
         """
-        dep_msg = "The attribute 'body_physx_view' will be removed in v0.3.0. Please use 'root_physx_view' instead."
+        dep_msg = "The attribute 'body_physx_view' will be removed in v0.4.0. Please use 'root_physx_view' instead."
         warnings.warn(dep_msg, DeprecationWarning)
         carb.log_error(dep_msg)
         return self._body_physx_view

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py

@@ -97,10 +97,10 @@ class RigidObject(AssetBase):
 
         .. deprecated:: v0.3.0
 
-            The attribute 'body_physx_view' will be removed in v0.3.0. Please use :attr:`root_physx_view` instead.
+            The attribute 'body_physx_view' will be removed in v0.4.0. Please use :attr:`root_physx_view` instead.
 
         """
-        dep_msg = "The attribute 'body_physx_view' will be removed in v0.3.0. Please use 'root_physx_view' instead."
+        dep_msg = "The attribute 'body_physx_view' will be removed in v0.4.0. Please use 'root_physx_view' instead."
         warnings.warn(dep_msg, DeprecationWarning)
         carb.log_error(dep_msg)
         return self.root_physx_view

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py

@@ -12,7 +12,7 @@ from typing import Any, Dict
 
 import omni.isaac.core.utils.torch as torch_utils
 
-from omni.isaac.orbit.managers import ActionManager, ObservationManager, RandomizationManager
+from omni.isaac.orbit.managers import ActionManager, EventManager, ObservationManager
 from omni.isaac.orbit.scene import InteractiveScene
 from omni.isaac.orbit.sim import SimulationContext
 from omni.isaac.orbit.utils.timer import Timer
@@ -64,10 +64,10 @@ class BaseEnv:
       raw actions at different levels of abstraction. For example, in case of a robotic arm, the raw actions
       can be joint torques, joint positions, or end-effector poses. Similarly for a mobile base, it can be
       the joint torques, or the desired velocity of the floating base.
-    * **Randomization Manager**: The randomization manager that randomizes different elements in the scene.
-      This includes resetting the scene to a default state or randomize the scene at different intervals
-      of time. The randomization manager can be configured to randomize different elements of the scene
-      such as the masses of objects, friction coefficients, or apply random pushes to the robot.
+    * **Event Manager**: The event manager orchestrates operations triggered based on simulation events.
+      This includes resetting the scene to a default state, applying random pushes to the robot at different intervals
+      of time, or randomizing properties such as mass and friction coefficients. This is useful for training
+      and evaluating the robot in a variety of scenarios.
 
     The environment provides a unified interface for interacting with the simulation. However, it does not
     include task-specific quantities such as the reward function, or the termination conditions. These
@@ -190,7 +190,7 @@ class BaseEnv:
         """Load the managers for the environment.
 
         This function is responsible for creating the various managers (action, observation,
-        randomization, etc.) for the environment. Since the managers require access to physics handles,
+        events, etc.) for the environment. Since the managers require access to physics handles,
         they can only be created after the simulator is reset (i.e. played for the first time).
 
         .. note::
@@ -209,9 +209,9 @@ class BaseEnv:
         # -- observation manager
         self.observation_manager = ObservationManager(self.cfg.observations, self)
         print("[INFO] Observation Manager:", self.observation_manager)
-        # -- randomization manager
-        self.randomization_manager = RandomizationManager(self.cfg.randomization, self)
-        print("[INFO] Randomization Manager: ", self.randomization_manager)
+        # -- event manager
+        self.event_manager = EventManager(self.cfg.events, self)
+        print("[INFO] Event Manager: ", self.event_manager)
 
     """
     Operations - MDP.
@@ -270,9 +270,9 @@ class BaseEnv:
         if self.sim.has_gui():
             self.sim.render()
 
-        # post-step: step interval randomization
-        if "interval" in self.randomization_manager.available_modes:
-            self.randomization_manager.randomize(mode="interval", dt=self.step_dt)
+        # post-step: step interval event
+        if "interval" in self.event_manager.available_modes:
+            self.event_manager.apply(mode="interval", dt=self.step_dt)
 
         # return observations and extras
         return self.observation_manager.compute(), self.extras
@@ -303,7 +303,7 @@ class BaseEnv:
             # destructor is order-sensitive
             del self.action_manager
             del self.observation_manager
-            del self.randomization_manager
+            del self.event_manager
             del self.scene
             del self.viewport_camera_controller
             # clear callbacks and instance
@@ -327,9 +327,9 @@ class BaseEnv:
         """
         # reset the internal buffers of the scene elements
         self.scene.reset(env_ids)
-        # randomize the MDP for environments that need a reset
-        if "reset" in self.randomization_manager.available_modes:
-            self.randomization_manager.randomize(env_ids=env_ids, mode="reset")
+        # apply events such as randomizations for environments that need a reset
+        if "reset" in self.event_manager.available_modes:
+            self.event_manager.apply(env_ids=env_ids, mode="reset")
 
         # iterate over all managers and reset them
         # this returns a dictionary of information which is stored in the extras
@@ -341,6 +341,6 @@ class BaseEnv:
         # -- action manager
         info = self.action_manager.reset(env_ids)
         self.extras["log"].update(info)
-        # -- randomization manager
-        info = self.randomization_manager.reset(env_ids)
+        # -- event manager
+        info = self.event_manager.reset(env_ids)
         self.extras["log"].update(info)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env_cfg.py

@@ -11,11 +11,12 @@ configuring the environment instances, viewer settings, and simulation parameter
 
 from __future__ import annotations
 
+import warnings
 from dataclasses import MISSING
 from typing import Literal
 
 import omni.isaac.orbit.envs.mdp as mdp
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.scene import InteractiveSceneCfg
 from omni.isaac.orbit.sim import SimulationCfg
 from omni.isaac.orbit.utils import configclass
@@ -67,14 +68,14 @@ class ViewerCfg:
 
 
 @configclass
-class DefaultRandomizationManagerCfg:
-    """Configuration of the default randomization manager.
+class DefaultEventManagerCfg:
+    """Configuration of the default event manager.
 
     This manager is used to reset the scene to a default state. The default state is specified
     by the scene configuration.
     """
 
-    reset_scene_to_default = RandTerm(func=mdp.reset_scene_to_default, mode="reset")
+    reset_scene_to_default = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
 
 
 @configclass
@@ -86,6 +87,7 @@ class BaseEnvCfg:
     """Viewer configuration. Default is ViewerCfg()."""
     sim: SimulationCfg = SimulationCfg()
     """Physics simulation configuration. Default is SimulationCfg()."""
+
     # ui settings
     ui_window_class_type: type | None = BaseEnvWindow
     """The class type of the UI window. Default is None.
@@ -100,15 +102,51 @@ class BaseEnvCfg:
 
     # general settings
     decimation: int = MISSING
-    """Number of control action updates @ sim dt per policy dt."""
+    """Number of control action updates @ sim dt per policy dt.
+
+    For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10.
+    This means that the control action is updated every 10 simulation steps.
+    """
 
     # environment settings
     scene: InteractiveSceneCfg = MISSING
-    """Scene settings"""
+    """Scene settings.
+
+    Please refer to the :class:`omni.isaac.orbit.scene.InteractiveSceneCfg` class for more details.
+    """
+
     observations: object = MISSING
-    """Observation space settings."""
+    """Observation space settings.
+
+    Please refer to the :class:`omni.isaac.orbit.managers.ObservationManager` class for more details.
+    """
+
     actions: object = MISSING
-    """Action space settings."""
-    randomization: object = DefaultRandomizationManagerCfg()
-    """Randomization settings. Default is the default randomization manager, which resets
-    the scene to its default state."""
+    """Action space settings.
+
+    Please refer to the :class:`omni.isaac.orbit.managers.ActionManager` class for more details.
+    """
+
+    events: object = DefaultEventManagerCfg()
+    """Event settings. Defaults to the basic configuration that resets the scene to its default state.
+
+    Please refer to the :class:`omni.isaac.orbit.managers.EventManager` class for more details.
+    """
+
+    randomization: object | None = None
+    """Randomization settings. Default is None.
+
+    .. deprecated:: 0.3.0
+        This attribute is deprecated and will be removed in v0.4.0. Please use the :attr:`events`
+        attribute to configure the randomization settings.
+
+    """
+
+    def __post_init__(self):
+        if self.randomization is not None:
+            warnings.warn(
+                "The 'randomization' attribute is deprecated and will be removed in a future release. "
+                "Please use the 'events' attribute to configure the randomization settings.",
+                DeprecationWarning,
+            )
+            self.events = self.randomization

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/__init__.py

@@ -7,7 +7,7 @@
 
 The functions can be provided to different managers that are responsible for the
 different aspects of the MDP. These include the observation, reward, termination,
-actions, randomization and curriculum managers.
+actions, events and curriculum managers.
 
 The terms are defined under the ``envs`` module because they are used to define
 the environment. However, they are not part of the environment directly, but
@@ -18,7 +18,7 @@ are used to define the environment through their managers.
 from .actions import *  # noqa: F401, F403
 from .commands import *  # noqa: F401, F403
 from .curriculums import *  # noqa: F401, F403
+from .events import *  # noqa: F401, F403
 from .observations import *  # noqa: F401, F403
-from .randomizations import *  # noqa: F401, F403
 from .rewards import *  # noqa: F401, F403
 from .terminations import *  # noqa: F401, F403

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/randomizations.py → source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/events.py

@@ -3,13 +3,13 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Common functions that can be used to enable different randomizations.
+"""Common functions that can be used to enable different events.
 
-Randomization includes anything related to altering the simulation state. This includes changing the physics
+Events include anything related to altering the simulation state. This includes changing the physics
 materials, applying external forces, and resetting the state of the asset.
 
-The functions can be passed to the :class:`omni.isaac.orbit.managers.RandomizationTermCfg` object to enable
-the randomization introduced by the function.
+The functions can be passed to the :class:`omni.isaac.orbit.managers.EventTermCfg` object to enable
+the event introduced by the function.
 """
 
 from __future__ import annotations
@@ -20,7 +20,7 @@ from typing import TYPE_CHECKING
 from omni.isaac.orbit.assets import Articulation, RigidObject
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers.manager_base import ManagerTermBase
-from omni.isaac.orbit.managers.manager_term_cfg import RandomizationTermCfg
+from omni.isaac.orbit.managers.manager_term_cfg import EventTermCfg
 from omni.isaac.orbit.terrains import TerrainImporter
 from omni.isaac.orbit.utils.math import quat_from_euler_xyz, random_orientation, sample_uniform
 
@@ -333,7 +333,7 @@ def reset_robot_root_from_terrain(
     valid_poses: torch.Tensor = terrain.flat_patches.get("init_pos")
     if valid_poses is None:
         raise ValueError(
-            "The randomization term 'reset_robot_root_from_terrain' requires valid flat patches under 'init_pos'."
+            "The event term 'reset_robot_root_from_terrain' requires valid flat patches under 'init_pos'."
             f" Found: {list(terrain.flat_patches.keys())}"
         )
 
@@ -441,7 +441,7 @@ class reset_joints_within_range(ManagerTermBase):
     instead.
     """
 
-    def __init__(self, cfg: RandomizationTermCfg, env: BaseEnv):
+    def __init__(self, cfg: EventTermCfg, env: BaseEnv):
         # initialize the base class
         super().__init__(cfg, env)
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py

@@ -94,9 +94,9 @@ class RLTaskEnv(BaseEnv, gym.Env):
 
         # setup the action and observation spaces for Gym
         self._configure_gym_env_spaces()
-        # perform randomization at the start of the simulation
-        if "startup" in self.randomization_manager.available_modes:
-            self.randomization_manager.randomize(mode="startup")
+        # perform events at the start of the simulation
+        if "startup" in self.event_manager.available_modes:
+            self.event_manager.apply(mode="startup")
         # print the environment information
         print("[INFO]: Completed setting up the environment...")
 
@@ -193,9 +193,9 @@ class RLTaskEnv(BaseEnv, gym.Env):
             self._reset_idx(reset_env_ids)
         # -- update command
         self.command_manager.compute(dt=self.step_dt)
-        # -- step interval randomization
-        if "interval" in self.randomization_manager.available_modes:
-            self.randomization_manager.randomize(mode="interval", dt=self.step_dt)
+        # -- step interval events
+        if "interval" in self.event_manager.available_modes:
+            self.event_manager.apply(mode="interval", dt=self.step_dt)
         # -- compute observations
         # note: done after reset to get the correct observations for reset envs
         self.obs_buf = self.observation_manager.compute()
@@ -310,9 +310,9 @@ class RLTaskEnv(BaseEnv, gym.Env):
         self.curriculum_manager.compute(env_ids=env_ids)
         # reset the internal buffers of the scene elements
         self.scene.reset(env_ids)
-        # randomize the MDP for environments that need a reset
-        if "reset" in self.randomization_manager.available_modes:
-            self.randomization_manager.randomize(env_ids=env_ids, mode="reset")
+        # apply events such as randomizations for environments that need a reset
+        if "reset" in self.event_manager.available_modes:
+            self.event_manager.apply(env_ids=env_ids, mode="reset")
 
         # iterate over all managers and reset them
         # this returns a dictionary of information which is stored in the extras
@@ -333,8 +333,8 @@ class RLTaskEnv(BaseEnv, gym.Env):
         # -- command manager
         info = self.command_manager.reset(env_ids)
         self.extras["log"].update(info)
-        # -- randomization manager
-        info = self.randomization_manager.reset(env_ids)
+        # -- event manager
+        info = self.event_manager.reset(env_ids)
         self.extras["log"].update(info)
         # -- termination manager
         info = self.termination_manager.reset(env_ids)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env_cfg.py

@@ -44,14 +44,39 @@ class RLTaskEnvCfg(BaseEnvCfg):
     """
 
     episode_length_s: float = MISSING
-    """Duration of an episode (in seconds)."""
+    """Duration of an episode (in seconds).
+
+    Based on the decimation rate and physics time step, the episode length is calculated as:
+
+    .. code-block:: python
+
+        episode_length_steps = ceil(episode_length_s / (decimation_rate * physics_time_step))
+
+    For example, if the decimation rate is 10, the physics time step is 0.01, and the episode length is 10 seconds,
+    then the episode length in steps is 100.
+    """
 
     # environment settings
     rewards: object = MISSING
-    """Reward settings."""
+    """Reward settings.
+
+    Please refer to the :class:`omni.isaac.orbit.managers.RewardManager` class for more details.
+    """
+
     terminations: object = MISSING
-    """Termination settings."""
+    """Termination settings.
+
+    Please refer to the :class:`omni.isaac.orbit.managers.TerminationManager` class for more details.
+    """
+
     curriculum: object = MISSING
-    """Curriculum settings."""
+    """Curriculum settings.
+
+    Please refer to the :class:`omni.isaac.orbit.managers.CurriculumManager` class for more details.
+    """
+
     commands: object = MISSING
-    """Command settings."""
+    """Command settings.
+
+    Please refer to the :class:`omni.isaac.orbit.managers.CommandManager` class for more details.
+    """

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

@@ -5,19 +5,21 @@
 
 """Sub-module for environment managers.
 
-The managers are used to handle various aspects of the environment such as randomization, curriculum, and
-observations. Each manager implements a specific functionality for the environment. The managers are
+The managers are used to handle various aspects of the environment such as randomization events, curriculum,
+and observations. Each manager implements a specific functionality for the environment. The managers are
 designed to be modular and can be easily extended to support new functionality.
 """
 
 from .action_manager import ActionManager, ActionTerm
 from .command_manager import CommandManager, CommandTerm
 from .curriculum_manager import CurriculumManager
+from .event_manager import EventManager, RandomizationManager
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import (
     ActionTermCfg,
     CommandTermCfg,
     CurriculumTermCfg,
+    EventTermCfg,
     ManagerTermBaseCfg,
     ObservationGroupCfg,
     ObservationTermCfg,
@@ -26,7 +28,6 @@ from .manager_term_cfg import (
     TerminationTermCfg,
 )
 from .observation_manager import ObservationManager
-from .randomization_manager import RandomizationManager
 from .reward_manager import RewardManager
 from .scene_entity_cfg import SceneEntityCfg
 from .termination_manager import TerminationManager

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_term_cfg.py

@@ -8,6 +8,7 @@
 from __future__ import annotations
 
 import torch
+import warnings
 from collections.abc import Callable
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Any
@@ -162,13 +163,13 @@ class ObservationGroupCfg:
 
 
 ##
-# Randomization manager
+# Event manager
 ##
 
 
 @configclass
-class RandomizationTermCfg(ManagerTermBaseCfg):
-    """Configuration for a randomization term."""
+class EventTermCfg(ManagerTermBaseCfg):
+    """Configuration for a event term."""
 
     func: Callable[..., None] = MISSING
     """The name of the function to be called.
@@ -178,7 +179,7 @@ class RandomizationTermCfg(ManagerTermBaseCfg):
     """
 
     mode: str = MISSING
-    """The mode in which the randomization term is applied.
+    """The mode in which the event term is applied.
 
     Note:
         The mode name ``"interval"`` is a special mode that is handled by the
@@ -189,14 +190,33 @@ class RandomizationTermCfg(ManagerTermBaseCfg):
     """The range of time in seconds at which the term is applied.
 
     Based on this, the interval is sampled uniformly between the specified
-    interval range for each environment instance and the term is applied for
-    the environment instances if the current time hits the interval time.
+    range for each environment instance. The term is applied on the environment
+    instances where the current time hits the interval time.
 
     Note:
         This is only used if the mode is ``"interval"``.
     """
 
 
+@configclass
+class RandomizationTermCfg(EventTermCfg):
+    """Configuration for a randomization term.
+
+    .. deprecated:: v0.3.0
+
+        This class is deprecated and will be removed in v0.4.0. Please use :class:`EventTermCfg` instead.
+    """
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        # Deprecation warning.
+        warnings.warn(
+            "The RandomizationTermCfg has been renamed to EventTermCfg and will be removed in v0.4.0. Please use"
+            " EventTermCfg instead.",
+            DeprecationWarning,
+        )
+
+
 ##
 # Reward manager.
 ##

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py

@@ -335,7 +335,7 @@ class Camera(SensorBase):
         if env_ids is None:
             env_ids = self._ALL_INDICES
         # reset the data
-        # note: this recomputation is useful if one performs randomization on the camera poses.
+        # note: this recomputation is useful if one performs events such as randomizations on the camera poses.
         self._update_poses(env_ids)
         self._update_intrinsic_matrices(env_ids)
         # Reset the frame count

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_camera.py

@@ -147,7 +147,7 @@ class RayCasterCamera(RayCaster):
         if env_ids is None:
             env_ids = slice(None)
         # reset the data
-        # note: this recomputation is useful if one performs randomization on the camera poses.
+        # note: this recomputation is useful if one performs events such as randomizations on the camera poses.
         pos_w, quat_w = self._compute_camera_world_poses(env_ids)
         self._data.pos_w[env_ids] = pos_w
         self._data.quat_w_world[env_ids] = quat_w

source/extensions/omni.isaac.orbit/test/envs/check_base_env_anymal_locomotion.py

@@ -5,7 +5,7 @@
 
 """
 This script demonstrates the environment concept that combines a scene with an action,
-observation and randomization manager for a quadruped robot.
+observation and event manager for a quadruped robot.
 
 A locomotion policy is loaded and used to control the robot. This shows how to use the
 environment with a policy.
@@ -42,9 +42,9 @@ import omni.isaac.orbit.envs.mdp as mdp
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.scene import InteractiveSceneCfg
 from omni.isaac.orbit.sensors import RayCasterCfg, patterns
@@ -155,10 +155,10 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    reset_base = RandTerm(
+    reset_base = EventTerm(
         func=mdp.reset_root_state_uniform,
         mode="reset",
         params={
@@ -189,7 +189,7 @@ class QuadrupedEnvCfg(BaseEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
 
     def __post_init__(self):
         """Post initialization."""

source/extensions/omni.isaac.orbit/test/envs/check_base_env_floating_cube.py

@@ -5,7 +5,7 @@
 
 """
 This script demonstrates the base environment concept that combines a scene with an action,
-observation and randomization manager for a floating cube.
+observation and event manager for a floating cube.
 """
 
 from __future__ import annotations
@@ -38,9 +38,9 @@ import omni.isaac.orbit.envs.mdp as mdp
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import AssetBaseCfg, RigidObject, RigidObjectCfg
 from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers.action_manager import ActionTerm, ActionTermCfg
 from omni.isaac.orbit.scene import InteractiveSceneCfg
@@ -188,10 +188,10 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    reset_base = RandTerm(
+    reset_base = EventTerm(
         func=mdp.reset_root_state_uniform,
         mode="reset",
         params={
@@ -220,7 +220,7 @@ class CubeEnvCfg(BaseEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
 
     def __post_init__(self):
         """Post initialization."""

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/ant_env_cfg.py

@@ -9,9 +9,9 @@ import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
@@ -142,16 +142,16 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    reset_base = RandTerm(
+    reset_base = EventTerm(
         func=mdp.reset_root_state_uniform,
         mode="reset",
         params={"pose_range": {}, "velocity_range": {}},
     )
 
-    reset_robot_joints = RandTerm(
+    reset_robot_joints = EventTerm(
         func=mdp.reset_joints_by_offset,
         mode="reset",
         params={
@@ -216,7 +216,7 @@ class AntEnvCfg(RLTaskEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
     curriculum: CurriculumCfg = CurriculumCfg()
 
     def __post_init__(self):

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py

@@ -8,9 +8,9 @@ import math
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
@@ -96,11 +96,11 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
     # reset
-    reset_cart_position = RandTerm(
+    reset_cart_position = EventTerm(
         func=mdp.reset_joints_by_offset,
         mode="reset",
         params={
@@ -110,7 +110,7 @@ class RandomizationCfg:
         },
     )
 
-    reset_pole_position = RandTerm(
+    reset_pole_position = EventTerm(
         func=mdp.reset_joints_by_offset,
         mode="reset",
         params={
@@ -183,7 +183,7 @@ class CartpoleEnvCfg(RLTaskEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
     # MDP settings
     curriculum: CurriculumCfg = CurriculumCfg()
     rewards: RewardsCfg = RewardsCfg()

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/humanoid_env_cfg.py

@@ -9,9 +9,9 @@ import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
@@ -166,16 +166,16 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    reset_base = RandTerm(
+    reset_base = EventTerm(
         func=mdp.reset_root_state_uniform,
         mode="reset",
         params={"pose_range": {}, "velocity_range": {}},
     )
 
-    reset_robot_joints = RandTerm(
+    reset_robot_joints = EventTerm(
         func=mdp.reset_joints_by_offset,
         mode="reset",
         params={
@@ -271,7 +271,7 @@ class HumanoidEnvCfg(RLTaskEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
     curriculum: CurriculumCfg = CurriculumCfg()
 
     def __post_init__(self):

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.py

@@ -38,6 +38,6 @@ class AnymalBFlatEnvCfg_PLAY(AnymalBFlatEnvCfg):
         self.scene.env_spacing = 2.5
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py

@@ -41,6 +41,6 @@ class AnymalBRoughEnvCfg_PLAY(AnymalBRoughEnvCfg):
 
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.py

@@ -38,6 +38,6 @@ class AnymalCFlatEnvCfg_PLAY(AnymalCFlatEnvCfg):
         self.scene.env_spacing = 2.5
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py

@@ -41,6 +41,6 @@ class AnymalCRoughEnvCfg_PLAY(AnymalCRoughEnvCfg):
 
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py

@@ -38,6 +38,6 @@ class AnymalDFlatEnvCfg_PLAY(AnymalDFlatEnvCfg):
         self.scene.env_spacing = 2.5
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py

@@ -41,6 +41,6 @@ class AnymalDRoughEnvCfg_PLAY(AnymalDRoughEnvCfg):
 
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py

@@ -61,12 +61,12 @@ class CassieRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
         # actions
         self.actions.joint_pos.scale = 0.5
 
-        # randomizations
-        self.randomization.push_robot = None
-        self.randomization.add_base_mass = None
-        self.randomization.reset_robot_joints.params["position_range"] = (1.0, 1.0)
-        self.randomization.base_external_force_torque.params["asset_cfg"].body_names = [".*pelvis"]
-        self.randomization.reset_base.params = {
+        # events
+        self.events.push_robot = None
+        self.events.add_base_mass = None
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
+        self.events.base_external_force_torque.params["asset_cfg"].body_names = [".*pelvis"]
+        self.events.reset_base.params = {
             "pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
             "velocity_range": {
                 "x": (0.0, 0.0),

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.py

@@ -38,6 +38,6 @@ class UnitreeA1FlatEnvCfg_PLAY(UnitreeA1FlatEnvCfg):
         self.scene.env_spacing = 2.5
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py

@@ -29,13 +29,13 @@ class UnitreeA1RoughEnvCfg(LocomotionVelocityRoughEnvCfg):
         # reduce action scale
         self.actions.joint_pos.scale = 0.25
 
-        # randomization
-        self.randomization.push_robot = None
-        self.randomization.add_base_mass.params["mass_range"] = (-1.0, 3.0)
-        self.randomization.add_base_mass.params["asset_cfg"].body_names = "trunk"
-        self.randomization.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
-        self.randomization.reset_robot_joints.params["position_range"] = (1.0, 1.0)
-        self.randomization.reset_base.params = {
+        # event
+        self.events.push_robot = None
+        self.events.add_base_mass.params["mass_range"] = (-1.0, 3.0)
+        self.events.add_base_mass.params["asset_cfg"].body_names = "trunk"
+        self.events.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
+        self.events.reset_base.params = {
             "pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
             "velocity_range": {
                 "x": (0.0, 0.0),
@@ -79,6 +79,6 @@ class UnitreeA1RoughEnvCfg_PLAY(UnitreeA1RoughEnvCfg):
 
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/flat_env_cfg.py

@@ -38,6 +38,6 @@ class UnitreeGo1FlatEnvCfg_PLAY(UnitreeGo1FlatEnvCfg):
         self.scene.env_spacing = 2.5
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py

@@ -29,13 +29,13 @@ class UnitreeGo1RoughEnvCfg(LocomotionVelocityRoughEnvCfg):
         # reduce action scale
         self.actions.joint_pos.scale = 0.25
 
-        # randomization
-        self.randomization.push_robot = None
-        self.randomization.add_base_mass.params["mass_range"] = (-1.0, 3.0)
-        self.randomization.add_base_mass.params["asset_cfg"].body_names = "trunk"
-        self.randomization.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
-        self.randomization.reset_robot_joints.params["position_range"] = (1.0, 1.0)
-        self.randomization.reset_base.params = {
+        # event
+        self.events.push_robot = None
+        self.events.add_base_mass.params["mass_range"] = (-1.0, 3.0)
+        self.events.add_base_mass.params["asset_cfg"].body_names = "trunk"
+        self.events.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
+        self.events.reset_base.params = {
             "pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
             "velocity_range": {
                 "x": (0.0, 0.0),
@@ -79,6 +79,6 @@ class UnitreeGo1RoughEnvCfg_PLAY(UnitreeGo1RoughEnvCfg):
 
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/flat_env_cfg.py

@@ -38,6 +38,6 @@ class UnitreeGo2FlatEnvCfg_PLAY(UnitreeGo2FlatEnvCfg):
         self.scene.env_spacing = 2.5
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/rough_env_cfg.py

@@ -29,13 +29,13 @@ class UnitreeGo2RoughEnvCfg(LocomotionVelocityRoughEnvCfg):
         # reduce action scale
         self.actions.joint_pos.scale = 0.25
 
-        # randomization
-        self.randomization.push_robot = None
-        self.randomization.add_base_mass.params["mass_range"] = (-1.0, 3.0)
-        self.randomization.add_base_mass.params["asset_cfg"].body_names = "base"
-        self.randomization.base_external_force_torque.params["asset_cfg"].body_names = "base"
-        self.randomization.reset_robot_joints.params["position_range"] = (1.0, 1.0)
-        self.randomization.reset_base.params = {
+        # event
+        self.events.push_robot = None
+        self.events.add_base_mass.params["mass_range"] = (-1.0, 3.0)
+        self.events.add_base_mass.params["asset_cfg"].body_names = "base"
+        self.events.base_external_force_torque.params["asset_cfg"].body_names = "base"
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
+        self.events.reset_base.params = {
             "pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
             "velocity_range": {
                 "x": (0.0, 0.0),
@@ -79,6 +79,6 @@ class UnitreeGo2RoughEnvCfg_PLAY(UnitreeGo2RoughEnvCfg):
 
         # disable randomization for play
         self.observations.policy.enable_corruption = False
-        # remove random pushing
-        self.randomization.base_external_force_torque = None
-        self.randomization.push_robot = None
+        # remove random pushing event
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/velocity_env_cfg.py

@@ -12,9 +12,9 @@ import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
@@ -148,11 +148,11 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
     # startup
-    physics_material = RandTerm(
+    physics_material = EventTerm(
         func=mdp.randomize_rigid_body_material,
         mode="startup",
         params={
@@ -164,14 +164,14 @@ class RandomizationCfg:
         },
     )
 
-    add_base_mass = RandTerm(
+    add_base_mass = EventTerm(
         func=mdp.add_body_mass,
         mode="startup",
         params={"asset_cfg": SceneEntityCfg("robot", body_names="base"), "mass_range": (-5.0, 5.0)},
     )
 
     # reset
-    base_external_force_torque = RandTerm(
+    base_external_force_torque = EventTerm(
         func=mdp.apply_external_force_torque,
         mode="reset",
         params={
@@ -181,7 +181,7 @@ class RandomizationCfg:
         },
     )
 
-    reset_base = RandTerm(
+    reset_base = EventTerm(
         func=mdp.reset_root_state_uniform,
         mode="reset",
         params={
@@ -197,7 +197,7 @@ class RandomizationCfg:
         },
     )
 
-    reset_robot_joints = RandTerm(
+    reset_robot_joints = EventTerm(
         func=mdp.reset_joints_by_scale,
         mode="reset",
         params={
@@ -207,7 +207,7 @@ class RandomizationCfg:
     )
 
     # interval
-    push_robot = RandTerm(
+    push_robot = EventTerm(
         func=mdp.push_by_setting_velocity,
         mode="interval",
         interval_range_s=(10.0, 15.0),
@@ -287,7 +287,7 @@ class LocomotionVelocityRoughEnvCfg(RLTaskEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
     curriculum: CurriculumCfg = CurriculumCfg()
 
     def __post_init__(self):

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/cabinet_env_cfg.py

@@ -15,9 +15,9 @@ import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators.actuator_cfg import ImplicitActuatorCfg
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
@@ -174,10 +174,10 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    robot_physics_material = RandTerm(
+    robot_physics_material = EventTerm(
         func=mdp.randomize_rigid_body_material,
         mode="startup",
         params={
@@ -189,7 +189,7 @@ class RandomizationCfg:
         },
     )
 
-    cabinet_physics_material = RandTerm(
+    cabinet_physics_material = EventTerm(
         func=mdp.randomize_rigid_body_material,
         mode="startup",
         params={
@@ -201,9 +201,9 @@ class RandomizationCfg:
         },
     )
 
-    reset_all = RandTerm(func=mdp.reset_scene_to_default, mode="reset")
+    reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
 
-    reset_robot_joints = RandTerm(
+    reset_robot_joints = EventTerm(
         func=mdp.reset_joints_by_offset,
         mode="reset",
         params={
@@ -276,7 +276,7 @@ class CabinetEnvCfg(RLTaskEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
 
     def __post_init__(self):
         """Post initialization."""

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env_cfg.py

@@ -12,9 +12,9 @@ import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
@@ -118,12 +118,12 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    reset_all = RandTerm(func=mdp.reset_scene_to_default, mode="reset")
+    reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
 
-    reset_object_position = RandTerm(
+    reset_object_position = EventTerm(
         func=mdp.reset_root_state_uniform,
         mode="reset",
         params={
@@ -206,7 +206,7 @@ class LiftEnvCfg(RLTaskEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
     curriculum: CurriculumCfg = CurriculumCfg()
 
     def __post_init__(self):

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/joint_pos_env_cfg.py

@@ -31,8 +31,8 @@ class UR10ReachEnvCfg(ReachEnvCfg):
 
         # switch robot to ur10
         self.scene.robot = UR10_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
-        # override randomization
-        self.randomization.reset_robot_joints.params["position_range"] = (0.75, 1.25)
+        # override events
+        self.events.reset_robot_joints.params["position_range"] = (0.75, 1.25)
         # override rewards
         self.rewards.end_effector_position_tracking.params["asset_cfg"].body_names = ["ee_link"]
         self.rewards.end_effector_orientation_tracking.params["asset_cfg"].body_names = ["ee_link"]

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/reach_env_cfg.py

@@ -12,9 +12,9 @@ from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import ActionTermCfg as ActionTerm
 from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
@@ -115,10 +115,10 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    reset_robot_joints = RandTerm(
+    reset_robot_joints = EventTerm(
         func=mdp.reset_joints_by_scale,
         mode="reset",
         params={
@@ -187,7 +187,7 @@ class ReachEnvCfg(RLTaskEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
     curriculum: CurriculumCfg = CurriculumCfg()
 
     def __post_init__(self):

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

@@ -5,7 +5,7 @@
 
 """
 This script demonstrates how to create a simple environment with a cartpole. It combines the concepts of
-scene, action, observation and randomization managers to create an environment.
+scene, action, observation and event managers to create an environment.
 """
 
 from __future__ import annotations
@@ -37,9 +37,9 @@ import torch
 
 import omni.isaac.orbit.envs.mdp as mdp
 from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.utils import configclass
 
@@ -74,11 +74,11 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
     # on startup
-    add_pole_mass = RandTerm(
+    add_pole_mass = EventTerm(
         func=mdp.add_body_mass,
         mode="startup",
         params={
@@ -88,7 +88,7 @@ class RandomizationCfg:
     )
 
     # on reset
-    reset_cart_position = RandTerm(
+    reset_cart_position = EventTerm(
         func=mdp.reset_joints_by_offset,
         mode="reset",
         params={
@@ -98,7 +98,7 @@ class RandomizationCfg:
         },
     )
 
-    reset_pole_position = RandTerm(
+    reset_pole_position = EventTerm(
         func=mdp.reset_joints_by_offset,
         mode="reset",
         params={
@@ -118,7 +118,7 @@ class CartpoleEnvCfg(BaseEnvCfg):
     # Basic settings
     observations = ObservationsCfg()
     actions = ActionsCfg()
-    randomization = RandomizationCfg()
+    events = EventCfg()
 
     def __post_init__(self):
         """Post initialization."""

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

@@ -48,9 +48,9 @@ import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import AssetBaseCfg, RigidObject, RigidObjectCfg
 from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg
 from omni.isaac.orbit.managers import ActionTerm, ActionTermCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.scene import InteractiveSceneCfg
 from omni.isaac.orbit.terrains import TerrainImporterCfg
@@ -219,10 +219,10 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    reset_base = RandTerm(
+    reset_base = EventTerm(
         func=mdp.reset_root_state_uniform,
         mode="reset",
         params={
@@ -251,7 +251,7 @@ class CubeEnvCfg(BaseEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
 
     def __post_init__(self):
         """Post initialization."""

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

@@ -48,9 +48,9 @@ import omni.isaac.orbit.envs.mdp as mdp
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.scene import InteractiveSceneCfg
 from omni.isaac.orbit.sensors import RayCasterCfg, patterns
@@ -168,10 +168,10 @@ class ObservationsCfg:
 
 
 @configclass
-class RandomizationCfg:
-    """Configuration for randomization."""
+class EventCfg:
+    """Configuration for events."""
 
-    reset_scene = RandTerm(func=mdp.reset_scene_to_default, mode="reset")
+    reset_scene = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
 
 
 ##
@@ -188,7 +188,7 @@ class QuadrupedEnvCfg(BaseEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    randomization: RandomizationCfg = RandomizationCfg()
+    events: EventCfg = EventCfg()
 
     def __post_init__(self):
         """Post initialization."""