Adds event manager call to simple manage-based env (isaac-sim#666)

# Description

Earlier, the "startup" events were only triggered when used inside an RL
environment. This MR makes sure they are also called inside the simple
environment version as well.

Fixes isaac-sim#664

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## 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
- [ ] 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

Author: Mayankm96

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.19.3"
+version = "0.19.4"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,18 @@
 Changelog
 ---------
 
+0.19.4 (2024-07-13)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added the call to "startup" events when using the :class:`~omni.isaac.lab.envs.ManagerBasedEnv` class.
+  Earlier, the "startup" events were not being called when the environment was initialized. This issue
+  did not occur when using the :class:`~omni.isaac.lab.envs.ManagerBasedRLEnv` class since the "startup"
+  events were called in the constructor.
+
+
 0.19.3 (2024-07-13)
 ~~~~~~~~~~~~~~~~~~~
 

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

@@ -223,6 +223,12 @@ def load_managers(self):
         self.event_manager = EventManager(self.cfg.events, self)
         print("[INFO] Event Manager: ", self.event_manager)
 
+        # perform events at the start of the simulation
+        # in-case a child implementation creates other managers, the randomization should happen
+        # when all the other managers are created
+        if self.__class__ == ManagerBasedEnv and "startup" in self.event_manager.available_modes:
+            self.event_manager.apply(mode="startup")
+
     """
     Operations - MDP.
     """

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

@@ -107,8 +107,10 @@ def load_managers(self):
         # -- command manager
         self.command_manager: CommandManager = CommandManager(self.cfg.commands, self)
         print("[INFO] Command Manager: ", self.command_manager)
+
         # call the parent class to load the managers for observations and actions.
         super().load_managers()
+
         # prepare the managers
         # -- termination manager
         self.termination_manager = TerminationManager(self.cfg.terminations, self)
@@ -119,8 +121,10 @@ def load_managers(self):
         # -- curriculum manager
         self.curriculum_manager = CurriculumManager(self.cfg.curriculum, self)
         print("[INFO] Curriculum Manager: ", self.curriculum_manager)
+
         # setup the action and observation spaces for Gym
         self._configure_gym_env_spaces()
+
         # perform events at the start of the simulation
         if "startup" in self.event_manager.available_modes:
             self.event_manager.apply(mode="startup")

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

@@ -19,7 +19,7 @@
 from .manager_term_cfg import EventTermCfg
 
 if TYPE_CHECKING:
-    from omni.isaac.lab.envs import ManagerBasedRLEnv
+    from omni.isaac.lab.envs import ManagerBasedEnv
 
 
 class EventManager(ManagerBase):
@@ -53,10 +53,10 @@ class EventManager(ManagerBase):
 
     """
 
-    _env: ManagerBasedRLEnv
+    _env: ManagerBasedEnv
     """The environment instance."""
 
-    def __init__(self, cfg: object, env: ManagerBasedRLEnv):
+    def __init__(self, cfg: object, env: ManagerBasedEnv):
         """Initialize the event manager.
 
         Args:
@@ -295,7 +295,7 @@ class RandomizationManager(EventManager):
         renamed to EventManager  as it is more general purpose. The RandomizationManager will be removed in v0.4.0.
     """
 
-    def __init__(self, cfg: object, env: ManagerBasedRLEnv):
+    def __init__(self, cfg: object, env: ManagerBasedEnv):
         """Initialize the randomization manager.
 
         Args:

tools/per_test_timeouts.py

@@ -9,4 +9,8 @@
 """
 PER_TEST_TIMEOUTS = {
     "test_environments.py": 1200,  # This test runs through all the environments for 100 steps each
+    "test_env_rendering_logic.py": 200,
+    "test_rsl_rl_wrapper.py": 200,
+    "test_sb3_wrapper.py": 200,
+    "test_skrl_wrapper.py": 200,
 }