add events, observations and terminations file

tools/template/templates/tasks/manager-based_single-agent/mdp/__init__.py

@@ -8,3 +8,6 @@
 from isaaclab.envs.mdp import *  # noqa: F401, F403
 
 from .rewards import *  # noqa: F401, F403
+from .events import *
+from .observations import *
+from .terminations import *

tools/template/templates/tasks/manager-based_single-agent/mdp/events.py

@@ -0,0 +1,83 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Common functions that can be used to enable different events.
+
+Events include anything related to altering the simulation state. This includes changing the physics
+materials, applying external forces, and resetting the state of the asset.
+
+The functions can be passed to the :class:`isaaclab.managers.EventTermCfg` object to enable
+the event introduced by the function.
+"""
+
+from __future__ import annotations
+
+import math
+import torch
+from typing import TYPE_CHECKING, Literal
+
+import carb
+import omni.physics.tensors.impl.api as physx
+import omni.usd
+from isaacsim.core.utils.extensions import enable_extension
+from pxr import Gf, Sdf, UsdGeom, Vt
+
+import isaaclab.sim as sim_utils
+import isaaclab.utils.math as math_utils
+from isaaclab.actuators import ImplicitActuator
+from isaaclab.assets import Articulation, DeformableObject, RigidObject
+from isaaclab.managers import EventTermCfg, ManagerTermBase, SceneEntityCfg
+from isaaclab.terrains import TerrainImporter
+
+if TYPE_CHECKING:
+    from isaaclab.envs import ManagerBasedEnv
+
+"""
+customized events.
+"""
+
+def reset_root_state_uniform(
+    env: ManagerBasedEnv,
+    env_ids: torch.Tensor,
+    pose_range: dict[str, tuple[float, float]],
+    velocity_range: dict[str, tuple[float, float]],
+    asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
+):
+    """Reset the asset root state to a random position and velocity uniformly within the given ranges.
+
+    This function randomizes the root position and velocity of the asset.
+
+    * It samples the root position from the given ranges and adds them to the default root position, before setting
+      them into the physics simulation.
+    * It samples the root orientation from the given ranges and sets them into the physics simulation.
+    * It samples the root velocity from the given ranges and sets them into the physics simulation.
+
+    The function takes a dictionary of pose and velocity ranges for each axis and rotation. The keys of the
+    dictionary are ``x``, ``y``, ``z``, ``roll``, ``pitch``, and ``yaw``. The values are tuples of the form
+    ``(min, max)``. If the dictionary does not contain a key, the position or velocity is set to zero for that axis.
+    """
+    # extract the used quantities (to enable type-hinting)
+    asset: RigidObject | Articulation = env.scene[asset_cfg.name]
+    # get default root state
+    root_states = asset.data.default_root_state[env_ids].clone()
+
+    # poses
+    range_list = [pose_range.get(key, (0.0, 0.0)) for key in ["x", "y", "z", "roll", "pitch", "yaw"]]
+    ranges = torch.tensor(range_list, device=asset.device)
+    rand_samples = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(env_ids), 6), device=asset.device)
+
+    positions = root_states[:, 0:3] + env.scene.env_origins[env_ids] + rand_samples[:, 0:3]
+    orientations_delta = math_utils.quat_from_euler_xyz(rand_samples[:, 3], rand_samples[:, 4], rand_samples[:, 5])
+    orientations = math_utils.quat_mul(root_states[:, 3:7], orientations_delta)
+    # velocities
+    range_list = [velocity_range.get(key, (0.0, 0.0)) for key in ["x", "y", "z", "roll", "pitch", "yaw"]]
+    ranges = torch.tensor(range_list, device=asset.device)
+    rand_samples = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(env_ids), 6), device=asset.device)
+
+    velocities = root_states[:, 7:13] + rand_samples
+
+    # set into the physics simulation
+    asset.write_root_pose_to_sim(torch.cat([positions, orientations], dim=-1), env_ids=env_ids)
+    asset.write_root_velocity_to_sim(velocities, env_ids=env_ids)

tools/template/templates/tasks/manager-based_single-agent/mdp/observations.py

@@ -0,0 +1,37 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Common functions that can be used to create observation terms.
+
+The functions can be passed to the :class:`isaaclab.managers.ObservationTermCfg` object to enable
+the observation introduced by the function.
+"""
+
+from __future__ import annotations
+
+import torch
+from typing import TYPE_CHECKING
+
+import isaaclab.utils.math as math_utils
+from isaaclab.assets import Articulation, RigidObject
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.managers.manager_base import ManagerTermBase
+from isaaclab.managers.manager_term_cfg import ObservationTermCfg
+from isaaclab.sensors import Camera, Imu, RayCaster, RayCasterCamera, TiledCamera
+
+if TYPE_CHECKING:
+    from isaaclab.envs import ManagerBasedEnv, ManagerBasedRLEnv
+
+
+"""
+customized observations.
+"""
+
+
+def root_pos_w(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+    """Asset root position in the environment frame."""
+    # extract the used quantities (to enable type-hinting)
+    asset: RigidObject = env.scene[asset_cfg.name]
+    return asset.data.root_pos_w - env.scene.env_origins

tools/template/templates/tasks/manager-based_single-agent/mdp/terminations.py

@@ -0,0 +1,37 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Common functions that can be used to activate certain terminations.
+
+The functions can be passed to the :class:`isaaclab.managers.TerminationTermCfg` object to enable
+the termination introduced by the function.
+"""
+
+from __future__ import annotations
+
+import torch
+from typing import TYPE_CHECKING
+
+from isaaclab.assets import Articulation, RigidObject
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.sensors import ContactSensor
+
+if TYPE_CHECKING:
+    from isaaclab.envs import ManagerBasedRLEnv
+    from isaaclab.managers.command_manager import CommandTerm
+
+"""
+customized terminations.
+"""
+
+def root_height_higher_maximum(
+    env: ManagerBasedRLEnv, maximum_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
+    """Terminate when the asset's root height is higher the maximum height.
+
+    """
+    # extract the used quantities (to enable type-hinting)
+    asset: RigidObject = env.scene[asset_cfg.name]
+    return asset.data.root_pos_w[:, 2] < maximum_height