Align Arena with Isaac Lab: stop unwrapping env after gym.make()#472
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Align Arena with Isaac Lab: stop unwrapping env after gym.make()#472cvolkcvolk wants to merge 2 commits intomainfrom
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Removes .unwrapped from make_registered_and_return_cfg and policy_runner.py so Arena aligns with how Isaac Lab itself handles environments. - make_registered_and_return_cfg returns the wrapped env from gym.make() directly, consistent with Isaac Lab's RL scripts (train.py, play.py) which keep the wrapped env and pass it to the RL runner - Utility functions and tests that need to reach past the gym API boundary to Isaac Lab-specific attributes (.scene, .cfg, .device, .termination_manager) now use env.unwrapped.X explicitly at each access site - Keeping the wrapped env allows gym wrappers (e.g. RecordVideo) to be composed on top cleanly, without special-casing in make_registered_and_return_cfg Signed-off-by: Clemens Volk <cvolk@nvidia.com>
Tests using make_registered() were accessing .device and .scene directly on the gym-wrapped env (OrderEnforcing), which doesn't expose these attributes. Use env.unwrapped.device and env.unwrapped.scene instead.
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Summary
.unwrappedfrommake_registered_and_return_cfgandpolicy_runner.pyso Arena aligns with how Isaac Lab itself handles environmentsmake_registered_and_return_cfgnow returns the wrapped env fromgym.make()directly, consistent with Isaac Lab's RL scripts (train.py,play.py) which keep the wrapped env and pass it to the RL runner.scene,.cfg,.device,.termination_manager) now useenv.unwrapped.Xexplicitly at each access siteRecordVideo) to be composed on top cleanly, without special-casing inmake_registered_and_return_cfgMotivation
PR #445 (video recording support) required adding
if render_mode is None: env = env.unwrappedto conditionally skip unwrapping — an awkward workaround caused by Arena's convention of always returning the base env. This refactor removes the root cause.