# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import copy
import inspect
import weakref
from abc import ABC, abstractmethod
from collections.abc import Sequence
from typing import TYPE_CHECKING, Any
import omni.log
import omni.timeline
import isaaclab.utils.string as string_utils
from isaaclab.utils import string_to_callable
from .manager_term_cfg import ManagerTermBaseCfg
from .scene_entity_cfg import SceneEntityCfg
if TYPE_CHECKING:
from isaaclab.envs import ManagerBasedEnv
[docs]class ManagerTermBase(ABC):
"""Base class for manager terms.
Manager term implementations can be functions or classes. If the term is a class, it should
inherit from this base class and implement the required methods.
Each manager is implemented as a class that inherits from the :class:`ManagerBase` class. Each manager
class should also have a corresponding configuration class that defines the configuration terms for the
manager. Each term should the :class:`ManagerTermBaseCfg` class or its subclass.
Example pseudo-code for creating a manager:
.. code-block:: python
from isaaclab.utils import configclass
from isaaclab.utils.mdp import ManagerBase, ManagerTermBaseCfg
@configclass
class MyManagerCfg:
my_term_1: ManagerTermBaseCfg = ManagerTermBaseCfg(...)
my_term_2: ManagerTermBaseCfg = ManagerTermBaseCfg(...)
my_term_3: ManagerTermBaseCfg = ManagerTermBaseCfg(...)
# define manager instance
my_manager = ManagerBase(cfg=ManagerCfg(), env=env)
"""
[docs] def __init__(self, cfg: ManagerTermBaseCfg, env: ManagerBasedEnv):
"""Initialize the manager term.
Args:
cfg: The configuration object.
env: The environment instance.
"""
# store the inputs
self.cfg = cfg
self._env = env
"""
Properties.
"""
@property
def num_envs(self) -> int:
"""Number of environments."""
return self._env.num_envs
@property
def device(self) -> str:
"""Device on which to perform computations."""
return self._env.device
"""
Operations.
"""
[docs] def reset(self, env_ids: Sequence[int] | None = None) -> None:
"""Resets the manager term.
Args:
env_ids: The environment ids. Defaults to None, in which case
all environments are considered.
"""
pass
def __call__(self, *args) -> Any:
"""Returns the value of the term required by the manager.
In case of a class implementation, this function is called by the manager
to get the value of the term. The arguments passed to this function are
the ones specified in the term configuration (see :attr:`ManagerTermBaseCfg.params`).
.. attention::
To be consistent with memory-less implementation of terms with functions, it is
recommended to ensure that the returned mutable quantities are cloned before
returning them. For instance, if the term returns a tensor, it is recommended
to ensure that the returned tensor is a clone of the original tensor. This prevents
the manager from storing references to the tensors and altering the original tensors.
Args:
*args: Variable length argument list.
Returns:
The value of the term.
"""
raise NotImplementedError("The method '__call__' should be implemented by the subclass.")
[docs]class ManagerBase(ABC):
"""Base class for all managers."""
[docs] def __init__(self, cfg: object, env: ManagerBasedEnv):
"""Initialize the manager.
This function is responsible for parsing the configuration object and creating the terms.
If the simulation is not playing, the scene entities are not resolved immediately.
Instead, the resolution is deferred until the simulation starts. This is done to ensure
that the scene entities are resolved even if the manager is created after the simulation
has already started.
Args:
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
# if the simulation is not playing, we use callbacks to trigger the resolution of the scene
# entities configuration. this is needed for cases where the manager is created after the
# simulation, but before the simulation is playing.
# FIXME: Once Isaac Sim supports storing this information as USD schema, we can remove this
# callback and resolve the scene entities directly inside `_prepare_terms`.
if not self._env.sim.is_playing():
# note: Use weakref on all callbacks to ensure that this object can be deleted when its destructor
# is called
# The order is set to 20 to allow asset/sensor initialization to complete before the scene entities
# are resolved. Those have the order 10.
timeline_event_stream = omni.timeline.get_timeline_interface().get_timeline_event_stream()
self._resolve_terms_handle = timeline_event_stream.create_subscription_to_pop_by_type(
int(omni.timeline.TimelineEventType.PLAY),
lambda event, obj=weakref.proxy(self): obj._resolve_terms_callback(event),
order=20,
)
else:
self._resolve_terms_handle = None
# parse config to create terms information
if self.cfg:
self._prepare_terms()
def __del__(self):
"""Delete the manager."""
if self._resolve_terms_handle:
self._resolve_terms_handle.unsubscribe()
self._resolve_terms_handle = None
"""
Properties.
"""
@property
def num_envs(self) -> int:
"""Number of environments."""
return self._env.num_envs
@property
def device(self) -> str:
"""Device on which to perform computations."""
return self._env.device
@property
@abstractmethod
def active_terms(self) -> list[str] | dict[str, list[str]]:
"""Name of active terms."""
raise NotImplementedError
"""
Operations.
"""
[docs] def reset(self, env_ids: Sequence[int] | None = None) -> dict[str, float]:
"""Resets the manager and returns logging information for the current time-step.
Args:
env_ids: The environment ids for which to log data.
Defaults None, which logs data for all environments.
Returns:
Dictionary containing the logging information.
"""
return {}
[docs] def find_terms(self, name_keys: str | Sequence[str]) -> list[str]:
"""Find terms in the manager based on the names.
This function searches the manager for terms based on the names. The names can be
specified as regular expressions or a list of regular expressions. The search is
performed on the active terms in the manager.
Please check the :meth:`~isaaclab.utils.string_utils.resolve_matching_names` function for more
information on the name matching.
Args:
name_keys: A regular expression or a list of regular expressions to match the term names.
Returns:
A list of term names that match the input keys.
"""
# resolve search keys
if isinstance(self.active_terms, dict):
list_of_strings = []
for names in self.active_terms.values():
list_of_strings.extend(names)
else:
list_of_strings = self.active_terms
# return the matching names
return string_utils.resolve_matching_names(name_keys, list_of_strings)[1]
[docs] def get_active_iterable_terms(self, env_idx: int) -> Sequence[tuple[str, Sequence[float]]]:
"""Returns the active terms as iterable sequence of tuples.
The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.
Returns:
The active terms.
"""
raise NotImplementedError
"""
Implementation specific.
"""
@abstractmethod
def _prepare_terms(self):
"""Prepare terms information from the configuration object."""
raise NotImplementedError
"""
Internal callbacks.
"""
def _resolve_terms_callback(self, event):
"""Resolve configurations of terms once the simulation starts.
Please check the :meth:`_process_term_cfg_at_play` method for more information.
"""
# check if config is dict already
if isinstance(self.cfg, dict):
cfg_items = self.cfg.items()
else:
cfg_items = self.cfg.__dict__.items()
# iterate over all the terms
for term_name, term_cfg in cfg_items:
# check for non config
if term_cfg is None:
continue
# process attributes at runtime
# these properties are only resolvable once the simulation starts playing
self._process_term_cfg_at_play(term_name, term_cfg)
"""
Internal functions.
"""
def _resolve_common_term_cfg(self, term_name: str, term_cfg: ManagerTermBaseCfg, min_argc: int = 1):
"""Resolve common attributes of the term configuration.
Usually, called by the :meth:`_prepare_terms` method to resolve common attributes of the term
configuration. These include:
* Resolving the term function and checking if it is callable.
* Checking if the term function's arguments are matched by the parameters.
* Resolving special attributes of the term configuration like ``asset_cfg``, ``sensor_cfg``, etc.
* Initializing the term if it is a class.
The last two steps are only possible once the simulation starts playing.
By default, all term functions are expected to have at least one argument, which is the
environment object. Some other managers may expect functions to take more arguments, for
instance, the environment indices as the second argument. In such cases, the
``min_argc`` argument can be used to specify the minimum number of arguments
required by the term function to be called correctly by the manager.
Args:
term_name: The name of the term.
term_cfg: The term configuration.
min_argc: The minimum number of arguments required by the term function to be called correctly
by the manager.
Raises:
TypeError: If the term configuration is not of type :class:`ManagerTermBaseCfg`.
ValueError: If the scene entity defined in the term configuration does not exist.
AttributeError: If the term function is not callable.
ValueError: If the term function's arguments are not matched by the parameters.
"""
# check if the term is a valid term config
if not isinstance(term_cfg, ManagerTermBaseCfg):
raise TypeError(
f"Configuration for the term '{term_name}' is not of type ManagerTermBaseCfg."
f" Received: '{type(term_cfg)}'."
)
# get the corresponding function or functional class
if isinstance(term_cfg.func, str):
term_cfg.func = string_to_callable(term_cfg.func)
# check if function is callable
if not callable(term_cfg.func):
raise AttributeError(f"The term '{term_name}' is not callable. Received: {term_cfg.func}")
# check if the term is a class of valid type
if inspect.isclass(term_cfg.func):
if not issubclass(term_cfg.func, ManagerTermBase):
raise TypeError(
f"Configuration for the term '{term_name}' is not of type ManagerTermBase."
f" Received: '{type(term_cfg.func)}'."
)
func_static = term_cfg.func.__call__
min_argc += 1 # forward by 1 to account for 'self' argument
else:
func_static = term_cfg.func
# check if function is callable
if not callable(func_static):
raise AttributeError(f"The term '{term_name}' is not callable. Received: {term_cfg.func}")
# check statically if the term's arguments are matched by params
term_params = list(term_cfg.params.keys())
args = inspect.signature(func_static).parameters
args_with_defaults = [arg for arg in args if args[arg].default is not inspect.Parameter.empty]
args_without_defaults = [arg for arg in args if args[arg].default is inspect.Parameter.empty]
args = args_without_defaults + args_with_defaults
# ignore first two arguments for env and env_ids
# Think: Check for cases when kwargs are set inside the function?
if len(args) > min_argc:
if set(args[min_argc:]) != set(term_params + args_with_defaults):
raise ValueError(
f"The term '{term_name}' expects mandatory parameters: {args_without_defaults[min_argc:]}"
f" and optional parameters: {args_with_defaults}, but received: {term_params}."
)
# process attributes at runtime
# these properties are only resolvable once the simulation starts playing
if self._env.sim.is_playing():
self._process_term_cfg_at_play(term_name, term_cfg)
def _process_term_cfg_at_play(self, term_name: str, term_cfg: ManagerTermBaseCfg):
"""Process the term configuration at runtime.
This function is called when the simulation starts playing. It is used to process the term
configuration at runtime. This includes:
* Resolving the scene entity configuration for the term.
* Initializing the term if it is a class.
Since the above steps rely on PhysX to parse over the simulation scene, they are deferred
until the simulation starts playing.
Args:
term_name: The name of the term.
term_cfg: The term configuration.
"""
for key, value in term_cfg.params.items():
if isinstance(value, SceneEntityCfg):
# load the entity
try:
value.resolve(self._env.scene)
except ValueError as e:
raise ValueError(f"Error while parsing '{term_name}:{key}'. {e}")
# log the entity for checking later
msg = f"[{term_cfg.__class__.__name__}:{term_name}] Found entity '{value.name}'."
if value.joint_ids is not None:
msg += f"\n\tJoint names: {value.joint_names} [{value.joint_ids}]"
if value.body_ids is not None:
msg += f"\n\tBody names: {value.body_names} [{value.body_ids}]"
# print the information
omni.log.info(msg)
# store the entity
term_cfg.params[key] = value
# initialize the term if it is a class
if inspect.isclass(term_cfg.func):
omni.log.info(f"Initializing term '{term_name}' with class '{term_cfg.func.__name__}'.")
term_cfg.func = term_cfg.func(cfg=term_cfg, env=self._env)
