Source code for isaaclab.envs.ui.manager_based_rl_env_window
# Copyright (c) 2022-2025, The Isaac Lab Project Developers.# All rights reserved.## SPDX-License-Identifier: BSD-3-Clausefrom__future__importannotationsfromtypingimportTYPE_CHECKINGfrom.base_env_windowimportBaseEnvWindowifTYPE_CHECKING:from..manager_based_rl_envimportManagerBasedRLEnv
[docs]classManagerBasedRLEnvWindow(BaseEnvWindow):"""Window manager for the RL environment. On top of the basic environment window, this class adds controls for the RL environment. This includes visualization of the command manager. """
[docs]def__init__(self,env:ManagerBasedRLEnv,window_name:str="IsaacLab"):"""Initialize the window. Args: env: The environment object. window_name: The name of the window. Defaults to "IsaacLab". """# initialize base windowsuper().__init__(env,window_name)# add custom UI elementswithself.ui_window_elements["main_vstack"]:withself.ui_window_elements["debug_frame"]:withself.ui_window_elements["debug_vstack"]:self._visualize_manager(title="Commands",class_name="command_manager")self._visualize_manager(title="Rewards",class_name="reward_manager")self._visualize_manager(title="Curriculum",class_name="curriculum_manager")self._visualize_manager(title="Termination",class_name="termination_manager")