Adds a validity check for configclasses (#1214)

# Description

Added a mechanism to check for the validity of a configclass object.
A configclass object is valid if it contains no MISSING attributes.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [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

.github/workflows/docs.yaml

@@ -2,12 +2,29 @@ name: Build & deploy docs
 
 on:
   push:
-  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
+  check-secrets:
+    name: Check secrets
+    runs-on: ubuntu-latest
+    outputs:
+      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
+    steps:
+    - id: trigger-deploy
+      env:
+        REPO_NAME: ${{ secrets.REPO_NAME }}
+        BRANCH_REF: ${{ secrets.BRANCH_REF }}
+      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+      run: echo "defined=true" >> "$GITHUB_OUTPUT"
+
   build-docs:
     name: Build Docs
     runs-on: ubuntu-latest
+    needs: [check-secrets]
 
     steps:
     - name: Checkout code
@@ -24,8 +41,8 @@ jobs:
       run: pip install -r requirements.txt
 
     - name: Check branch docs building
-      if: ${{ github.event_name == 'pull_request' }}
       working-directory: ./docs
+      if: needs.check-secrets.outputs.trigger-deploy != 'true'
       run: make current-docs
 
     - name: Generate multi-version docs
@@ -40,19 +57,6 @@ jobs:
         name: docs-html
         path: ./docs/_build
 
-  check-secrets:
-    name: Check secrets
-    runs-on: ubuntu-latest
-    outputs:
-      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
-    steps:
-    - id: trigger-deploy
-      env:
-        REPO_NAME: ${{ secrets.REPO_NAME }}
-        BRANCH_REF: ${{ secrets.BRANCH_REF }}
-      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
-      run: echo "defined=true" >> "$GITHUB_OUTPUT"
-
   deploy-docs:
     name: Deploy Docs
     runs-on: ubuntu-latest

docs/conf.py

@@ -262,7 +262,7 @@ html_sidebars = {
 
 def skip_member(app, what, name, obj, skip, options):
     # List the names of the functions you want to skip here
-    exclusions = ["from_dict", "to_dict", "replace", "copy", "__post_init__"]
+    exclusions = ["from_dict", "to_dict", "replace", "copy", "validate", "__post_init__"]
     if name in exclusions:
         return True
     return None

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

@@ -36,7 +36,7 @@ For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_t
 
    .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
       :language: python
-      :emphasize-lines: 63-68, 124-149, 152-162, 165-169, 187-192
+      :emphasize-lines: 117-141, 144-154, 172-174
       :linenos:
 
 The script for running the environment ``run_cartpole_rl_env.py`` is present in the
@@ -117,13 +117,8 @@ For various goal-conditioned tasks, it is useful to specify the goals or command
 handled through the :class:`managers.CommandManager`. The command manager handles resampling and updating the
 commands at each step. It can also be used to provide the commands as an observation to the agent.
 
-For this simple task, we do not use any commands. This is specified by using a command term with the
-:class:`envs.mdp.NullCommandCfg` configuration. However, you can see an example of command definitions in the
-locomotion or manipulation tasks.
-
-.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
-   :language: python
-   :pyobject: CommandsCfg
+For this simple task, we do not use any commands. Hence, we leave this attribute as its default value, which is None.
+You can see an example of how to define a command manager in the other locomotion or manipulation tasks.
 
 Defining curriculum
 -------------------
@@ -134,11 +129,6 @@ we provide a :class:`managers.CurriculumManager` class that can be used to defin
 
 In this tutorial we don't implement a curriculum for simplicity, but you can see an example of a
 curriculum definition in the other locomotion or manipulation tasks.
-We use a simple pass-through curriculum to define a curriculum manager that does not modify the environment.
-
-.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
-   :language: python
-   :pyobject: CurriculumCfg
 
 Tying it all together
 ---------------------

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.26.0"
+version = "0.27.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

 Changelog
 ---------
 
+0.27.0 (2024-10-14)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added a method to :class:`~omni.isaac.lab.utils.configclass` to check for attributes with values of
+  type ``MISSING``. This is useful when the user wants to check if a certain attribute has been set or not.
+* Added the configuration validation check inside the constructor of all the core classes
+  (such as sensor base, asset base, scene and environment base classes).
+* Added support for environments without commands by leaving the attribute
+  :attr:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands` as None. Before, this had to be done using
+  the class :class:`omni.isaac.lab.command_generators.NullCommandGenerator`.
+* Moved the ``meshes`` attribute in the :class:`omni.isaac.lab.sensors.RayCaster` class from class variable to instance variable.
+   This prevents the meshes to overwrite each other.
+
+
 0.26.0 (2024-10-16)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py

@@ -59,6 +59,8 @@ class AssetBase(ABC):
         Raises:
             RuntimeError: If no prims found at input prim path or prim path expression.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs
         self.cfg = cfg
         # flag for whether the asset is initialized

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py

@@ -39,8 +39,9 @@ class AssetBaseCfg:
         Defaults to (1.0, 0.0, 0.0, 0.0).
         """
 
-    class_type: type[AssetBase] = MISSING
-    """The associated asset class.
+    class_type: type[AssetBase] = None
+    """The associated asset class. Defaults to None, which means that the asset will be spawned
+    but cannot be interacted with via the asset class.
 
     The class should inherit from :class:`omni.isaac.lab.assets.asset_base.AssetBase`.
     """

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

@@ -74,6 +74,8 @@ class DirectMARLEnv:
             RuntimeError: If a simulation context already exists. The environment must always create one
                 since it configures the simulation context and controls the simulation.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs to class
         self.cfg = cfg
         # store the render mode

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

@@ -79,6 +79,8 @@ class DirectRLEnv(gym.Env):
             RuntimeError: If a simulation context already exists. The environment must always create one
                 since it configures the simulation context and controls the simulation.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs to class
         self.cfg = cfg
         # store the render mode

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

@@ -98,7 +98,7 @@ class DirectRLEnvCfg:
     Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` class for more details.
     """
 
-    events: object = None
+    events: object | None = None
     """Event settings. Defaults to None, in which case no events are applied through the event manager.
 
     Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details.

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

@@ -69,6 +69,8 @@ class ManagerBasedEnv:
             RuntimeError: If a simulation context already exists. The environment must always create one
                 since it configures the simulation context and controls the simulation.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs to class
         self.cfg = cfg
         # initialize internal variables

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

@@ -67,14 +67,14 @@ class ManagerBasedRLEnvCfg(ManagerBasedEnvCfg):
     Please refer to the :class:`omni.isaac.lab.managers.TerminationManager` class for more details.
     """
 
-    curriculum: object = MISSING
-    """Curriculum settings.
+    curriculum: object | None = None
+    """Curriculum settings. Defaults to None, in which case no curriculum is applied.
 
     Please refer to the :class:`omni.isaac.lab.managers.CurriculumManager` class for more details.
     """
 
-    commands: object = MISSING
-    """Command settings.
+    commands: object | None = None
+    """Command settings. Defaults to None, in which case no commands are generated.
 
     Please refer to the :class:`omni.isaac.lab.managers.CommandManager` class for more details.
     """

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions_to_limits.py

@@ -183,9 +183,11 @@ class EMAJointPositionToLimitsAction(JointPositionToLimitsAction):
         # check if specific environment ids are provided
         if env_ids is None:
             env_ids = slice(None)
+        else:
+            env_ids = env_ids[:, None]
         super().reset(env_ids)
         # reset history to current joint positions
-        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids[:, None], self._joint_ids]
+        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids, self._joint_ids]
 
     def process_actions(self, actions: torch.Tensor):
         # apply affine transformations

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py

@@ -37,29 +37,46 @@ class UniformVelocityCommandCfg(CommandTermCfg):
 
     asset_name: str = MISSING
     """Name of the asset in the environment for which the commands are generated."""
-    heading_command: bool = MISSING
-    """Whether to use heading command or angular velocity command.
+
+    heading_command: bool = False
+    """Whether to use heading command or angular velocity command. Defaults to False.
 
     If True, the angular velocity command is computed from the heading error, where the
     target heading is sampled uniformly from provided range. Otherwise, the angular velocity
     command is sampled uniformly from provided range.
     """
-    heading_control_stiffness: float = MISSING
-    """Scale factor to convert the heading error to angular velocity command."""
-    rel_standing_envs: float = MISSING
-    """Probability threshold for environments where the robots that are standing still."""
-    rel_heading_envs: float = MISSING
-    """Probability threshold for environments where the robots follow the heading-based angular velocity command
-    (the others follow the sampled angular velocity command)."""
+
+    heading_control_stiffness: float = 1.0
+    """Scale factor to convert the heading error to angular velocity command. Defaults to 1.0."""
+
+    rel_standing_envs: float = 0.0
+    """The sampled probability of environments that should be standing still. Defaults to 0.0."""
+
+    rel_heading_envs: float = 1.0
+    """The sampled probability of environments where the robots follow the heading-based angular velocity command
+    (the others follow the sampled angular velocity command). Defaults to 1.0.
+
+    This parameter is only used if :attr:`heading_command` is True.
+    """
 
     @configclass
     class Ranges:
         """Uniform distribution ranges for the velocity commands."""
 
-        lin_vel_x: tuple[float, float] = MISSING  # min max [m/s]
-        lin_vel_y: tuple[float, float] = MISSING  # min max [m/s]
-        ang_vel_z: tuple[float, float] = MISSING  # min max [rad/s]
-        heading: tuple[float, float] = MISSING  # min max [rad]
+        lin_vel_x: tuple[float, float] = MISSING
+        """Range for the linear-x velocity command (in m/s)."""
+
+        lin_vel_y: tuple[float, float] = MISSING
+        """Range for the linear-y velocity command (in m/s)."""
+
+        ang_vel_z: tuple[float, float] = MISSING
+        """Range for the angular-z velocity command (in rad/s)."""
+
+        heading: tuple[float, float] | None = None
+        """Range for the heading command (in rad). Defaults to None.
+
+        This parameter is only used if :attr:`~UniformVelocityCommandCfg.heading_command` is True.
+        """
 
     ranges: Ranges = MISSING
     """Distribution ranges for the velocity commands."""
@@ -91,15 +108,17 @@ class NormalVelocityCommandCfg(UniformVelocityCommandCfg):
         """Normal distribution ranges for the velocity commands."""
 
         mean_vel: tuple[float, float, float] = MISSING
-        """Mean velocity for the normal distribution.
+        """Mean velocity for the normal distribution (in m/s).
 
         The tuple contains the mean linear-x, linear-y, and angular-z velocity.
         """
+
         std_vel: tuple[float, float, float] = MISSING
-        """Standard deviation for the normal distribution.
+        """Standard deviation for the normal distribution (in m/s).
 
         The tuple contains the standard deviation linear-x, linear-y, and angular-z velocity.
         """
+
         zero_prob: tuple[float, float, float] = MISSING
         """Probability of zero velocity for the normal distribution.
 
@@ -118,6 +137,7 @@ class UniformPoseCommandCfg(CommandTermCfg):
 
     asset_name: str = MISSING
     """Name of the asset in the environment for which the commands are generated."""
+
     body_name: str = MISSING
     """Name of the body in the asset for which the commands are generated."""
 
@@ -131,12 +151,23 @@ class UniformPoseCommandCfg(CommandTermCfg):
     class Ranges:
         """Uniform distribution ranges for the pose commands."""
 
-        pos_x: tuple[float, float] = MISSING  # min max [m]
-        pos_y: tuple[float, float] = MISSING  # min max [m]
-        pos_z: tuple[float, float] = MISSING  # min max [m]
-        roll: tuple[float, float] = MISSING  # min max [rad]
-        pitch: tuple[float, float] = MISSING  # min max [rad]
-        yaw: tuple[float, float] = MISSING  # min max [rad]
+        pos_x: tuple[float, float] = MISSING
+        """Range for the x position (in m)."""
+
+        pos_y: tuple[float, float] = MISSING
+        """Range for the y position (in m)."""
+
+        pos_z: tuple[float, float] = MISSING
+        """Range for the z position (in m)."""
+
+        roll: tuple[float, float] = MISSING
+        """Range for the roll angle (in rad)."""
+
+        pitch: tuple[float, float] = MISSING
+        """Range for the pitch angle (in rad)."""
+
+        yaw: tuple[float, float] = MISSING
+        """Range for the yaw angle (in rad)."""
 
     ranges: Ranges = MISSING
     """Ranges for the commands."""
@@ -175,8 +206,10 @@ class UniformPose2dCommandCfg(CommandTermCfg):
 
         pos_x: tuple[float, float] = MISSING
         """Range for the x position (in m)."""
+
         pos_y: tuple[float, float] = MISSING
         """Range for the y position (in m)."""
+
         heading: tuple[float, float] = MISSING
         """Heading range for the position commands (in rad).
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/velocity_command.py

@@ -11,6 +11,8 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
+import omni.log
+
 import omni.isaac.lab.utils.math as math_utils
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import CommandTerm
@@ -49,10 +51,25 @@ class UniformVelocityCommand(CommandTerm):
         Args:
             cfg: The configuration of the command generator.
             env: The environment.
+
+        Raises:
+            ValueError: If the heading command is active but the heading range is not provided.
         """
         # initialize the base class
         super().__init__(cfg, env)
 
+        # check configuration
+        if self.cfg.heading_command and self.cfg.ranges.heading is None:
+            raise ValueError(
+                "The velocity command has heading commands active (heading_command=True) but the `ranges.heading`"
+                " parameter is set to None."
+            )
+        if self.cfg.ranges.heading and not self.cfg.heading_command:
+            omni.log.warn(
+                f"The velocity command has the 'ranges.heading' attribute set to '{self.cfg.ranges.heading}'"
+                " but the heading command is not active. Consider setting the flag for the heading command to True."
+            )
+
         # obtain the robot asset
         # -- robot
         self.robot: Articulation = env.scene[cfg.asset_name]

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

@@ -181,12 +181,21 @@ class ActionManager(ManagerBase):
         Args:
             cfg: The configuration object or dictionary (``dict[str, ActionTermCfg]``).
             env: The environment instance.
+
+        Raises:
+            ValueError: If the configuration is None.
         """
+        # check if config is None
+        if cfg is None:
+            raise ValueError("Action manager configuration is None. Please provide a valid configuration.")
+
+        # call the base class constructor (this prepares the terms)
         super().__init__(cfg, env)
         # create buffers to store actions
         self._action = torch.zeros((self.num_envs, self.total_action_dim), device=self.device)
         self._prev_action = torch.zeros_like(self._action)
 
+        # check if any term has debug visualization implemented
         self.cfg.debug_vis = False
         for term in self._terms.values():
             self.cfg.debug_vis |= term.cfg.debug_vis
@@ -334,8 +343,7 @@ class ActionManager(ManagerBase):
     """
 
     def _prepare_terms(self):
-        """Prepares a list of action terms."""
-        # parse action terms from the config
+        # create buffers to parse and store terms
         self._term_names: list[str] = list()
         self._terms: dict[str, ActionTerm] = dict()
 
@@ -344,6 +352,7 @@ class ActionManager(ManagerBase):
             cfg_items = self.cfg.items()
         else:
             cfg_items = self.cfg.__dict__.items()
+        # parse action terms from the config
         for term_name, term_cfg in cfg_items:
             # check if term config is None
             if term_cfg is None:

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

@@ -243,12 +243,17 @@ class CommandManager(ManagerBase):
             cfg: The configuration object or dictionary (``dict[str, CommandTermCfg]``).
             env: The environment instance.
         """
+        # create buffers to parse and store terms
+        self._terms: dict[str, CommandTerm] = dict()
+
+        # call the base class constructor (this prepares the terms)
         super().__init__(cfg, env)
         # store the commands
         self._commands = dict()
-        self.cfg.debug_vis = False
-        for term in self._terms.values():
-            self.cfg.debug_vis |= term.cfg.debug_vis
+        if self.cfg:
+            self.cfg.debug_vis = False
+            for term in self._terms.values():
+                self.cfg.debug_vis |= term.cfg.debug_vis
 
     def __str__(self) -> str:
         """Returns: A string representation for the command manager."""
@@ -371,10 +376,6 @@ class CommandManager(ManagerBase):
     """
 
     def _prepare_terms(self):
-        """Prepares a list of command terms."""
-        # parse command terms from the config
-        self._terms: dict[str, CommandTerm] = dict()
-
         # check if config is dict already
         if isinstance(self.cfg, dict):
             cfg_items = self.cfg.items()

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

@@ -44,7 +44,14 @@ class CurriculumManager(ManagerBase):
             TypeError: If curriculum term is not of type :class:`CurriculumTermCfg`.
             ValueError: If curriculum term configuration does not satisfy its function signature.
         """
+        # create buffers to parse and store terms
+        self._term_names: list[str] = list()
+        self._term_cfgs: list[CurriculumTermCfg] = list()
+        self._class_term_cfgs: list[CurriculumTermCfg] = list()
+
+        # call the base class constructor (this will parse the terms config)
         super().__init__(cfg, env)
+
         # prepare logging
         self._curriculum_state = dict()
         for term_name in self._term_names:
@@ -136,11 +143,6 @@ class CurriculumManager(ManagerBase):
     """
 
     def _prepare_terms(self):
-        # parse remaining curriculum terms and decimate their information
-        self._term_names: list[str] = list()
-        self._term_cfgs: list[CurriculumTermCfg] = list()
-        self._class_term_cfgs: list[CurriculumTermCfg] = list()
-
         # check if config is dict already
         if isinstance(self.cfg, dict):
             cfg_items = self.cfg.items()

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

@@ -62,6 +62,12 @@ class EventManager(ManagerBase):
             cfg: A configuration object or dictionary (``dict[str, EventTermCfg]``).
             env: An environment object.
         """
+        # create buffers to parse and store terms
+        self._mode_term_names: dict[str, list[str]] = dict()
+        self._mode_term_cfgs: dict[str, list[EventTermCfg]] = dict()
+        self._mode_class_term_cfgs: dict[str, list[EventTermCfg]] = dict()
+
+        # call the base class (this will parse the terms config)
         super().__init__(cfg, env)
 
     def __str__(self) -> str:
@@ -294,11 +300,6 @@ class EventManager(ManagerBase):
     """
 
     def _prepare_terms(self):
-        """Prepares a list of event functions."""
-        # parse remaining event terms and decimate their information
-        self._mode_term_names: dict[str, list[str]] = dict()
-        self._mode_term_cfgs: dict[str, list[EventTermCfg]] = dict()
-        self._mode_class_term_cfgs: dict[str, list[EventTermCfg]] = dict()
         # buffer to store the time left for "interval" mode
         # if interval is global, then it is a single value, otherwise it is per environment
         self._interval_term_time_left: list[torch.Tensor] = list()

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

@@ -120,14 +120,15 @@ class ManagerBase(ABC):
         """Initialize the manager.
 
         Args:
-            cfg: The configuration object.
+            cfg: The configuration object. If None, the manager is initialized without any terms.
             env: The environment instance.
         """
         # store the inputs
         self.cfg = copy.deepcopy(cfg)
         self._env = env
         # parse config to create terms information
-        self._prepare_terms()
+        if self.cfg:
+            self._prepare_terms()
 
     """
     Properties.

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

@@ -63,9 +63,15 @@ class ObservationManager(ManagerBase):
             env: The environment instance.
 
         Raises:
+            ValueError: If the configuration is None.
             RuntimeError: If the shapes of the observation terms in a group are not compatible for concatenation
                 and the :attr:`~ObservationGroupCfg.concatenate_terms` attribute is set to True.
         """
+        # check that cfg is not None
+        if cfg is None:
+            raise ValueError("Observation manager configuration is None. Please provide a valid configuration.")
+
+        # call the base class constructor (this will parse the terms config)
         super().__init__(cfg, env)
 
         # compute combined vector for obs group

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

@@ -47,6 +47,12 @@ class RewardManager(ManagerBase):
             cfg: The configuration object or dictionary (``dict[str, RewardTermCfg]``).
             env: The environment instance.
         """
+        # create buffers to parse and store terms
+        self._term_names: list[str] = list()
+        self._term_cfgs: list[RewardTermCfg] = list()
+        self._class_term_cfgs: list[RewardTermCfg] = list()
+
+        # call the base class constructor (this will parse the terms config)
         super().__init__(cfg, env)
         # prepare extra info to store individual reward term information
         self._episode_sums = dict()
@@ -185,12 +191,6 @@ class RewardManager(ManagerBase):
     """
 
     def _prepare_terms(self):
-        """Prepares a list of reward functions."""
-        # parse remaining reward terms and decimate their information
-        self._term_names: list[str] = list()
-        self._term_cfgs: list[RewardTermCfg] = list()
-        self._class_term_cfgs: list[RewardTermCfg] = list()
-
         # check if config is dict already
         if isinstance(self.cfg, dict):
             cfg_items = self.cfg.items()

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

@@ -53,6 +53,12 @@ class TerminationManager(ManagerBase):
             cfg: The configuration object or dictionary (``dict[str, TerminationTermCfg]``).
             env: An environment object.
         """
+        # create buffers to parse and store terms
+        self._term_names: list[str] = list()
+        self._term_cfgs: list[TerminationTermCfg] = list()
+        self._class_term_cfgs: list[TerminationTermCfg] = list()
+
+        # call the base class constructor (this will parse the terms config)
         super().__init__(cfg, env)
         # prepare extra info to store individual termination term information
         self._term_dones = dict()
@@ -219,12 +225,6 @@ class TerminationManager(ManagerBase):
     """
 
     def _prepare_terms(self):
-        """Prepares a list of termination functions."""
-        # parse remaining termination terms and decimate their information
-        self._term_names: list[str] = list()
-        self._term_cfgs: list[TerminationTermCfg] = list()
-        self._class_term_cfgs: list[TerminationTermCfg] = list()
-
         # check if config is dict already
         if isinstance(self.cfg, dict):
             cfg_items = self.cfg.items()

source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py

@@ -104,6 +104,8 @@ class InteractiveScene:
         Args:
             cfg: The configuration class for the scene.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs
         self.cfg = cfg
         # initialize scene elements

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py

@@ -9,7 +9,7 @@ import numpy as np
 import re
 import torch
 from collections.abc import Sequence
-from typing import TYPE_CHECKING, ClassVar
+from typing import TYPE_CHECKING
 
 import omni.log
 import omni.physics.tensors.impl.api as physx
@@ -48,14 +48,6 @@ class RayCaster(SensorBase):
 
     cfg: RayCasterCfg
     """The configuration parameters."""
-    meshes: ClassVar[dict[str, wp.Mesh]] = {}
-    """The warp meshes available for raycasting.
-
-    The keys correspond to the prim path for the meshes, and values are the corresponding warp Mesh objects.
-
-    Note:
-           We store a global dictionary of all warp meshes to prevent re-loading the mesh for different ray-cast sensor instances.
-    """
 
     def __init__(self, cfg: RayCasterCfg):
         """Initializes the ray-caster object.
@@ -77,6 +69,8 @@ class RayCaster(SensorBase):
         super().__init__(cfg)
         # Create empty variables for storing output data
         self._data = RayCasterData()
+        # the warp meshes used for raycasting.
+        self.meshes: dict[str, wp.Mesh] = {}
 
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
@@ -84,7 +78,7 @@ class RayCaster(SensorBase):
             f"Ray-caster @ '{self.cfg.prim_path}': \n"
             f"\tview type            : {self._view.__class__}\n"
             f"\tupdate period (s)    : {self.cfg.update_period}\n"
-            f"\tnumber of meshes     : {len(RayCaster.meshes)}\n"
+            f"\tnumber of meshes     : {len(self.meshes)}\n"
             f"\tnumber of sensors    : {self._view.count}\n"
             f"\tnumber of rays/sensor: {self.num_rays}\n"
             f"\ttotal number of rays : {self.num_rays * self._view.count}"
@@ -163,10 +157,6 @@ class RayCaster(SensorBase):
 
         # read prims to ray-cast
         for mesh_prim_path in self.cfg.mesh_prim_paths:
-            # check if mesh already casted into warp mesh
-            if mesh_prim_path in RayCaster.meshes:
-                continue
-
             # check if the prim is a plane - handle PhysX plane as a special case
             # if a plane exists then we need to create an infinite mesh that is a plane
             mesh_prim = sim_utils.get_first_matching_child_prim(
@@ -197,10 +187,10 @@ class RayCaster(SensorBase):
                 # print info
                 omni.log.info(f"Created infinite plane mesh prim: {mesh_prim.GetPath()}.")
             # add the warp mesh to the list
-            RayCaster.meshes[mesh_prim_path] = wp_mesh
+            self.meshes[mesh_prim_path] = wp_mesh
 
         # throw an error if no meshes are found
-        if all([mesh_prim_path not in RayCaster.meshes for mesh_prim_path in self.cfg.mesh_prim_paths]):
+        if all([mesh_prim_path not in self.meshes for mesh_prim_path in self.cfg.mesh_prim_paths]):
             raise RuntimeError(
                 f"No meshes found for ray-casting! Please check the mesh prim paths: {self.cfg.mesh_prim_paths}"
             )
@@ -263,7 +253,7 @@ class RayCaster(SensorBase):
             ray_starts_w,
             ray_directions_w,
             max_dist=self.cfg.max_distance,
-            mesh=RayCaster.meshes[self.cfg.mesh_prim_paths[0]],
+            mesh=self.meshes[self.cfg.mesh_prim_paths[0]],
         )[0]
 
     def _set_debug_vis_impl(self, debug_vis: bool):

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

@@ -281,7 +281,7 @@ class RayCasterCamera(RayCaster):
         self.ray_hits_w, ray_depth, ray_normal, _ = raycast_mesh(
             ray_starts_w,
             ray_directions_w,
-            mesh=RayCasterCamera.meshes[self.cfg.mesh_prim_paths[0]],
+            mesh=self.meshes[self.cfg.mesh_prim_paths[0]],
             max_dist=1e6,
             return_distance=any(
                 [name in self.cfg.data_types for name in ["distance_to_image_plane", "distance_to_camera"]]

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py

@@ -48,6 +48,8 @@ class SensorBase(ABC):
         # check that config is valid
         if cfg.history_length < 0:
             raise ValueError(f"History length must be greater than 0! Received: {cfg.history_length}")
+        # check that the config is valid
+        cfg.validate()
         # store inputs
         self.cfg = cfg
         # flag for whether the sensor is initialized

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py

@@ -114,6 +114,8 @@ class SimulationContext(_SimulationContext):
         # store input
         if cfg is None:
             cfg = SimulationCfg()
+        # check that the config is valid
+        cfg.validate()
         self.cfg = cfg
         # check that simulation is running
         if stage_utils.get_current_stage() is None:

source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py

@@ -88,8 +88,12 @@ class SubTerrainBaseCfg:
     is 0.7.
     """
 
-    size: tuple[float, float] = MISSING
-    """The width (along x) and length (along y) of the terrain (in m)."""
+    size: tuple[float, float] = (10.0, 10.0)
+    """The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).
+
+    In case the :class:`~omni.isaac.lab.terrains.TerrainImporterCfg` is used, this parameter gets overridden by
+    :attr:`omni.isaac.lab.scene.TerrainImporterCfg.size` attribute.
+    """
 
     flat_patch_sampling: dict[str, FlatPatchSamplingCfg] | None = None
     """Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,

source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py

@@ -67,6 +67,8 @@ class TerrainImporter:
             ValueError: If terrain type is 'usd' and no configuration provided for ``usd_path``.
             ValueError: If terrain type is 'usd' or 'plane' and no configuration provided for ``env_spacing``.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs
         self.cfg = cfg
         self.device = sim_utils.SimulationContext.instance().device  # type: ignore

source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py

@@ -36,8 +36,12 @@ class TerrainImporterCfg:
     All sub-terrains are imported relative to this prim path.
     """
 
-    num_envs: int = MISSING
-    """The number of environment origins to consider."""
+    num_envs: int = 1
+    """The number of environment origins to consider. Defaults to 1.
+
+    In case, the :class:`~omni.isaac.lab.scene.InteractiveSceneCfg` is used, this parameter gets overridden by
+    :attr:`omni.isaac.lab.scene.InteractiveSceneCfg.num_envs` attribute.
+    """
 
     terrain_type: Literal["generator", "plane", "usd"] = "generator"
     """The type of terrain to generate. Defaults to "generator".

source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py

@@ -14,7 +14,7 @@ from typing import Any, ClassVar
 
 from .dict import class_to_dict, update_class_from_dict
 
-_CONFIGCLASS_METHODS = ["to_dict", "from_dict", "replace", "copy"]
+_CONFIGCLASS_METHODS = ["to_dict", "from_dict", "replace", "copy", "validate"]
 """List of class methods added at runtime to dataclass."""
 
 """
@@ -98,6 +98,7 @@ def configclass(cls, **kwargs):
     setattr(cls, "from_dict", _update_class_from_dict)
     setattr(cls, "replace", _replace_class_with_kwargs)
     setattr(cls, "copy", _copy_class)
+    setattr(cls, "validate", _validate)
     # wrap around dataclass
     cls = dataclass(cls, **kwargs)
     # return wrapped class
@@ -240,6 +241,56 @@ def _add_annotation_types(cls):
     cls.__annotations__ = hints
 
 
+def _validate(obj: object, prefix: str = "") -> list[str]:
+    """Check the validity of configclass object.
+
+    This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING
+    entries.
+
+    Args:
+        obj: The object to check.
+        prefix: The prefix to add to the missing fields. Defaults to ''.
+
+    Returns:
+        A list of missing fields.
+
+    Raises:
+        TypeError: When the object is not a valid configuration object.
+    """
+    missing_fields = []
+
+    if type(obj) is type(MISSING):
+        missing_fields.append(prefix)
+        return missing_fields
+    elif isinstance(obj, (list, tuple)):
+        for index, item in enumerate(obj):
+            current_path = f"{prefix}[{index}]"
+            missing_fields.extend(_validate(item, prefix=current_path))
+        return missing_fields
+    elif isinstance(obj, dict):
+        obj_dict = obj
+    elif hasattr(obj, "__dict__"):
+        obj_dict = obj.__dict__
+    else:
+        return missing_fields
+
+    for key, value in obj_dict.items():
+        # disregard builtin attributes
+        if key.startswith("__"):
+            continue
+        current_path = f"{prefix}.{key}" if prefix else key
+        missing_fields.extend(_validate(value, prefix=current_path))
+
+    # raise an error only once at the top-level call
+    if prefix == "" and missing_fields:
+        formatted_message = "\n".join(f"  - {field}" for field in missing_fields)
+        raise TypeError(
+            f"Missing values detected in object {obj.__class__.__name__} for the following"
+            f" fields:\n{formatted_message}\n"
+        )
+    return missing_fields
+
+
 def _process_mutable_types(cls):
     """Initialize all mutable elements through :obj:`dataclasses.Field` to avoid unnecessary complaints.
 

source/extensions/omni.isaac.lab/test/envs/test_direct_marl_env.py

@@ -52,6 +52,7 @@ def get_empty_base_env_cfg(device: str = "cuda:0", num_envs: int = 1, env_spacin
         action_spaces = {"agent_0": 1, "agent_1": 2}
         observation_spaces = {"agent_0": 3, "agent_1": 4}
         state_space = -1
+        episode_length_s = 100.0
 
     return EmptyEnvCfg()
 
@@ -72,10 +73,10 @@ class TestDirectMARLEnv(unittest.TestCase):
                     # create environment
                     env = DirectMARLEnv(cfg=get_empty_base_env_cfg(device=device))
                 except Exception as e:
-                    if "env" in locals():
+                    if "env" in locals() and hasattr(env, "_is_closed"):
                         env.close()
                     else:
-                        if hasattr(e, "obj") and hasattr(e.obj, "close"):
+                        if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                             e.obj.close()
                     self.fail(f"Failed to set-up the DirectMARLEnv environment. Error: {e}")
 

source/extensions/omni.isaac.lab/test/envs/test_env_rendering_logic.py

@@ -47,6 +47,7 @@ def create_manager_based_env(render_interval: int):
         """Configuration for the test environment."""
 
         decimation: int = 4
+        episode_length_s: float = 100.0
         sim: SimulationCfg = SimulationCfg(dt=0.005, render_interval=render_interval)
         scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=1, env_spacing=1.0)
         actions: EmptyManagerCfg = EmptyManagerCfg()
@@ -63,10 +64,13 @@ def create_manager_based_rl_env(render_interval: int):
         """Configuration for the test environment."""
 
         decimation: int = 4
+        episode_length_s: float = 100.0
         sim: SimulationCfg = SimulationCfg(dt=0.005, render_interval=render_interval)
         scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=1, env_spacing=1.0)
         actions: EmptyManagerCfg = EmptyManagerCfg()
         observations: EmptyManagerCfg = EmptyManagerCfg()
+        rewards: EmptyManagerCfg = EmptyManagerCfg()
+        terminations: EmptyManagerCfg = EmptyManagerCfg()
 
     return ManagerBasedRLEnv(cfg=EnvCfg())
 
@@ -81,6 +85,7 @@ def create_direct_rl_env(render_interval: int):
         decimation: int = 4
         action_space: int = 0
         observation_space: int = 0
+        episode_length_s: float = 100.0
         sim: SimulationCfg = SimulationCfg(dt=0.005, render_interval=render_interval)
         scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=1, env_spacing=1.0)
 
@@ -140,10 +145,10 @@ class TestEnvRenderingLogic(unittest.TestCase):
                         else:
                             env = create_direct_rl_env(render_interval)
                     except Exception as e:
-                        if "env" in locals():
+                        if "env" in locals() and hasattr(env, "_is_closed"):
                             env.close()
                         else:
-                            if hasattr(e, "obj") and hasattr(e.obj, "close"):
+                            if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                                 e.obj.close()
                         self.fail(f"Failed to set-up the environment {env_type}. Error: {e}")
 

source/extensions/omni.isaac.lab/test/managers/test_event_manager.py

@@ -134,6 +134,15 @@ class TestEventManager(unittest.TestCase):
         self.assertEqual(len(self.event_man.active_terms["reset"]), 1)
         self.assertEqual(len(self.event_man.active_terms["custom"]), 2)
 
+    def test_config_empty(self):
+        """Test the creation of reward manager with empty config."""
+        self.event_man = EventManager(None, self.env)
+        self.assertEqual(len(self.event_man.active_terms), 0)
+
+        # print the expected string
+        print()
+        print(self.event_man)
+
     def test_invalid_event_func_module(self):
         """Test the handling of invalid event function's module in string representation."""
         cfg = {

source/extensions/omni.isaac.lab/test/managers/test_reward_manager.py

@@ -12,6 +12,7 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
+import torch
 import unittest
 from collections import namedtuple
 
@@ -123,6 +124,21 @@ class TestRewardManager(unittest.TestCase):
         self.assertEqual(float(rewards[0]), expected_reward)
         self.assertEqual(tuple(rewards.shape), (self.env.num_envs,))
 
+    def test_config_empty(self):
+        """Test the creation of reward manager with empty config."""
+        self.rew_man = RewardManager(None, self.env)
+        self.assertEqual(len(self.rew_man.active_terms), 0)
+
+        # print the expected string
+        print()
+        print(self.rew_man)
+
+        # compute reward
+        rewards = self.rew_man.compute(dt=self.env.dt)
+
+        # check all rewards are zero
+        torch.testing.assert_close(rewards, torch.zeros_like(rewards))
+
     def test_active_terms(self):
         """Test the correct reading of active terms."""
         cfg = {

source/extensions/omni.isaac.lab/test/scene/test_interactive_scene.py

@@ -40,7 +40,7 @@ class MySceneCfg(InteractiveSceneCfg):
         prim_path="/World/Robot",
         spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Simple/revolute_articulation.usd"),
         actuators={
-            "joint": ImplicitActuatorCfg(),
+            "joint": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=100.0, damping=1.0),
         },
     )
     # rigid object

source/extensions/omni.isaac.lab/test/utils/test_configclass.py

@@ -329,6 +329,45 @@ class NestedDictAndListCfg:
     list_1: list[EnvCfg] = [EnvCfg(), EnvCfg()]
 
 
+"""
+Dummy configuration: Missing attributes
+"""
+
+
+@configclass
+class MissingParentDemoCfg:
+    """Dummy parent configuration with missing fields."""
+
+    a: int = MISSING
+
+    @configclass
+    class InsideClassCfg:
+        """Inner dummy configuration."""
+
+        @configclass
+        class InsideInsideClassCfg:
+            """Inner inner dummy configuration."""
+
+            a: str = MISSING
+
+        inside: str = MISSING
+        inside_dict = {"a": MISSING}
+        inside_nested_dict = {"a": {"b": "hello", "c": MISSING, "d": InsideInsideClassCfg()}}
+        inside_tuple = (10, MISSING, 20)
+        inside_list = [MISSING, MISSING, 2]
+
+    b: InsideClassCfg = InsideClassCfg()
+
+
+@configclass
+class MissingChildDemoCfg(MissingParentDemoCfg):
+    """Dummy child configuration with missing fields."""
+
+    c: Callable = MISSING
+    d: int | None = None
+    e: dict = {}
+
+
 """
 Test solutions: Basic
 """
@@ -404,6 +443,22 @@ functions_demo_cfg_for_updating = {
     "func_in_dict": {"func": "__main__:dummy_function2"},
 }
 
+"""
+Test solutions: Missing attributes
+"""
+
+validity_expected_fields = [
+    "a",
+    "b.inside",
+    "b.inside_dict.a",
+    "b.inside_nested_dict.a.c",
+    "b.inside_nested_dict.a.d.a",
+    "b.inside_tuple[1]",
+    "b.inside_list[0]",
+    "b.inside_list[1]",
+    "c",
+]
+
 """
 Test fixtures.
 """
@@ -888,6 +943,22 @@ class TestConfigClass(unittest.TestCase):
 
         self.assertEqual(md5_hash_1, md5_hash_2)
 
+    def test_validity(self):
+        """Check that invalid configurations raise errors."""
+
+        cfg = MissingChildDemoCfg()
+
+        with self.assertRaises(TypeError) as context:
+            cfg.validate()
+
+        # check that the expected missing fields are in the error message
+        error_message = str(context.exception)
+        for elem in validity_expected_fields:
+            self.assertIn(elem, error_message)
+
+        # check that no more than the expected missing fields are in the error message
+        self.assertEqual(len(error_message.split("\n")) - 2, len(validity_expected_fields))
+
 
 if __name__ == "__main__":
     run_tests()

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.8"
+version = "0.10.9"
 
 # Description
 title = "Isaac Lab Environments"

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

 Changelog
 ---------
 
+0.10.9 (2024-10-22)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Sets curriculum and commands to None in manager-based environment configurations when not needed.
+  Earlier, this was done by making an empty configuration object, which is now unnecessary.
+
+
 0.10.8 (2024-10-22)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/ant_env_cfg.py

@@ -58,14 +58,6 @@ class MySceneCfg(InteractiveSceneCfg):
 ##
 
 
-@configclass
-class CommandsCfg:
-    """Command terms for the MDP."""
-
-    # no commands for this MDP
-    null = mdp.NullCommandCfg()
-
-
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -163,13 +155,6 @@ class TerminationsCfg:
     torso_height = DoneTerm(func=mdp.root_height_below_minimum, params={"minimum_height": 0.31})
 
 
-@configclass
-class CurriculumCfg:
-    """Curriculum terms for the MDP."""
-
-    pass
-
-
 @configclass
 class AntEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the MuJoCo-style Ant walking environment."""
@@ -179,13 +164,10 @@ class AntEnvCfg(ManagerBasedRLEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    commands: CommandsCfg = CommandsCfg()
-
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
     events: EventCfg = EventCfg()
-    curriculum: CurriculumCfg = CurriculumCfg()
 
     def __post_init__(self):
         """Post initialization."""

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

@@ -60,14 +60,6 @@ class CartpoleSceneCfg(InteractiveSceneCfg):
 ##
 
 
-@configclass
-class CommandsCfg:
-    """Command terms for the MDP."""
-
-    # no commands for this MDP
-    null = mdp.NullCommandCfg()
-
-
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -162,13 +154,6 @@ class TerminationsCfg:
     )
 
 
-@configclass
-class CurriculumCfg:
-    """Configuration for the curriculum."""
-
-    pass
-
-
 ##
 # Environment configuration
 ##
@@ -185,11 +170,8 @@ class CartpoleEnvCfg(ManagerBasedRLEnvCfg):
     actions: ActionsCfg = ActionsCfg()
     events: EventCfg = EventCfg()
     # MDP settings
-    curriculum: CurriculumCfg = CurriculumCfg()
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    # No command generator
-    commands: CommandsCfg = CommandsCfg()
 
     # Post initialization
     def __post_init__(self) -> None:

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py

@@ -102,14 +102,6 @@ class MySceneCfg(InteractiveSceneCfg):
 ##
 
 
-@configclass
-class CommandsCfg:
-    """Command terms for the MDP."""
-
-    # no commands for this MDP
-    null = mdp.NullCommandCfg()
-
-
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -248,13 +240,6 @@ class TerminationsCfg:
     torso_height = DoneTerm(func=mdp.root_height_below_minimum, params={"minimum_height": 0.8})
 
 
-@configclass
-class CurriculumCfg:
-    """Curriculum terms for the MDP."""
-
-    pass
-
-
 @configclass
 class HumanoidEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the MuJoCo-style Humanoid walking environment."""
@@ -264,13 +249,10 @@ class HumanoidEnvCfg(ManagerBasedRLEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    commands: CommandsCfg = CommandsCfg()
-
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
     events: EventCfg = EventCfg()
-    curriculum: CurriculumCfg = CurriculumCfg()
 
     def __post_init__(self):
         """Post initialization."""

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py

@@ -293,13 +293,6 @@ class SpotTerminationsCfg:
     )
 
 
-@configclass
-class SpotCurriculumCfg:
-    """Curriculum terms for the MDP."""
-
-    pass
-
-
 @configclass
 class SpotFlatEnvCfg(LocomotionVelocityRoughEnvCfg):
 
@@ -312,7 +305,6 @@ class SpotFlatEnvCfg(LocomotionVelocityRoughEnvCfg):
     rewards: SpotRewardsCfg = SpotRewardsCfg()
     terminations: SpotTerminationsCfg = SpotTerminationsCfg()
     events: SpotEventCfg = SpotEventCfg()
-    curriculum: SpotCurriculumCfg = SpotCurriculumCfg()
 
     # Viewer
     viewer = ViewerCfg(eye=(10.5, 10.5, 0.3), origin_type="world", env_index=0, asset_name="robot")

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/cabinet_env_cfg.py

@@ -123,13 +123,6 @@ class CabinetSceneCfg(InteractiveSceneCfg):
 ##
 
 
-@configclass
-class CommandsCfg:
-    """Command terms for the MDP."""
-
-    null_command = mdp.NullCommandCfg()
-
-
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -267,7 +260,6 @@ class CabinetEnvCfg(ManagerBasedRLEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    commands: CommandsCfg = CommandsCfg()
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py

@@ -107,13 +107,6 @@ class CommandsCfg:
     )
 
 
-@configclass
-class CurriculumCfg:
-    """Curriculum terms for the MDP."""
-
-    pass
-
-
 @configclass
 class TerminationsCfg:
     """Termination terms for the MDP."""
@@ -127,14 +120,16 @@ class TerminationsCfg:
 
 @configclass
 class NavigationEnvCfg(ManagerBasedRLEnvCfg):
+    """Configuration for the navigation environment."""
+
+    # environment settings
     scene: SceneEntityCfg = LOW_LEVEL_ENV_CFG.scene
-    commands: CommandsCfg = CommandsCfg()
     actions: ActionsCfg = ActionsCfg()
     observations: ObservationsCfg = ObservationsCfg()
-    rewards: RewardsCfg = RewardsCfg()
     events: EventCfg = EventCfg()
-
-    curriculum: CurriculumCfg = CurriculumCfg()
+    # mdp settings
+    commands: CommandsCfg = CommandsCfg()
+    rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
 
     def __post_init__(self):

source/extensions/omni.isaac.lab_tasks/test/test_environment_determinism.py

@@ -101,13 +101,20 @@ class TestEnvironmentDeterminism(unittest.TestCase):
         """Run random actions and obtain transition tuples after fixed number of steps."""
         # create a new stage
         omni.usd.get_context().new_stage()
-        # parse configuration
-        env_cfg = parse_env_cfg(task_name, device=device, num_envs=num_envs)
-        # set seed
-        env_cfg.seed = 42
-
-        # create environment
-        env = gym.make(task_name, cfg=env_cfg)
+        try:
+            # parse configuration
+            env_cfg = parse_env_cfg(task_name, device=device, num_envs=num_envs)
+            # set seed
+            env_cfg.seed = 42
+            # create environment
+            env = gym.make(task_name, cfg=env_cfg)
+        except Exception as e:
+            if "env" in locals() and hasattr(env, "_is_closed"):
+                env.close()
+            else:
+                if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
+                    e.obj.close()
+            self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
 
         # disable control on stop
         env.unwrapped.sim._app_control_on_stop_handle = None  # type: ignore

source/extensions/omni.isaac.lab_tasks/test/test_environments.py

@@ -100,10 +100,10 @@ class TestEnvironments(unittest.TestCase):
             # create environment
             env = gym.make(task_name, cfg=env_cfg)
         except Exception as e:
-            if "env" in locals():
+            if "env" in locals() and hasattr(env, "_is_closed"):
                 env.close()
             else:
-                if hasattr(e, "obj") and hasattr(e.obj, "close"):
+                if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                     e.obj.close()
             self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
 

source/extensions/omni.isaac.lab_tasks/test/test_multi_agent_environments.py

@@ -39,7 +39,6 @@ class TestEnvironments(unittest.TestCase):
                 cls.registered_tasks.append(task_spec.id)
         # sort environments by name
         cls.registered_tasks.sort()
-        cls.registered_tasks = ["Isaac-Shadow-Hand-Over-Direct-v0"]
         # print all existing task names
         print(">>> All registered environments:", cls.registered_tasks)
 
@@ -97,10 +96,10 @@ class TestEnvironments(unittest.TestCase):
             # create environment
             env: DirectMARLEnv = gym.make(task_name, cfg=env_cfg)
         except Exception as e:
-            if "env" in locals():
+            if "env" in locals() and hasattr(env, "_is_closed"):
                 env.close()
             else:
-                if hasattr(e, "obj") and hasattr(e.obj, "close"):
+                if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                     e.obj.close()
             self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
 

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rl_games_wrapper.py

@@ -69,10 +69,10 @@ class TestRlGamesVecEnvWrapper(unittest.TestCase):
                     # wrap environment
                     env = RlGamesVecEnvWrapper(env, "cuda:0", 100, 100)
                 except Exception as e:
-                    if "env" in locals():
+                    if "env" in locals() and hasattr(env, "_is_closed"):
                         env.close()
                     else:
-                        if hasattr(e, "obj") and hasattr(e.obj, "close"):
+                        if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                             e.obj.close()
                     self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
 

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rsl_rl_wrapper.py

@@ -69,10 +69,10 @@ class TestRslRlVecEnvWrapper(unittest.TestCase):
                     # wrap environment
                     env = RslRlVecEnvWrapper(env)
                 except Exception as e:
-                    if "env" in locals():
+                    if "env" in locals() and hasattr(env, "_is_closed"):
                         env.close()
                     else:
-                        if hasattr(e, "obj") and hasattr(e.obj, "close"):
+                        if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                             e.obj.close()
                     self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
 

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_sb3_wrapper.py

@@ -70,10 +70,10 @@ class TestStableBaselines3VecEnvWrapper(unittest.TestCase):
                     # wrap environment
                     env = Sb3VecEnvWrapper(env)
                 except Exception as e:
-                    if "env" in locals():
+                    if "env" in locals() and hasattr(env, "_is_closed"):
                         env.close()
                     else:
-                        if hasattr(e, "obj") and hasattr(e.obj, "close"):
+                        if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                             e.obj.close()
                     self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
 

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_skrl_wrapper.py

@@ -68,10 +68,10 @@ class TestSKRLVecEnvWrapper(unittest.TestCase):
                     # wrap environment
                     env = SkrlVecEnvWrapper(env)
                 except Exception as e:
-                    if "env" in locals():
+                    if "env" in locals() and hasattr(env, "_is_closed"):
                         env.close()
                     else:
-                        if hasattr(e, "obj") and hasattr(e.obj, "close"):
+                        if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                             e.obj.close()
                     self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
                 # reset environment