Source code for omni.isaac.lab.envs.ui.manager_based_rl_env_window
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from typing import TYPE_CHECKING
from .base_env_window import BaseEnvWindow
if TYPE_CHECKING:
from ..manager_based_rl_env import ManagerBasedRLEnv
[docs]class ManagerBasedRLEnvWindow(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 window
super().__init__(env, window_name)
# add custom UI elements
with self.ui_window_elements["main_vstack"]:
with self.ui_window_elements["debug_frame"]:
with self.ui_window_elements["debug_vstack"]:
self._create_debug_vis_ui_element("commands", self.env.command_manager)
self._create_debug_vis_ui_element("actions", self.env.action_manager)