Align Arena with Isaac Lab: stop unwrapping env after gym.make()#455
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Align Arena with Isaac Lab: stop unwrapping env after gym.make()#455cvolkcvolk wants to merge 5 commits intomainfrom
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Isaac Lab keeps the wrapped gym env and uses env.unwrapped only as an explicit accessor for Isaac Lab-specific attributes. Arena was always calling .unwrapped at construction time, which conflicted with composing gym wrappers (e.g. RecordVideo) on top. gymnasium's Wrapper.__getattr__ forwards attribute access to the base env, so callers are unaffected. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Signed-off-by: Clemens Volk <cvolk@nvidia.com>
- Use env.unwrapped.cfg explicitly to access Isaac Lab-specific attributes, since gymnasium's OrderEnforcing wrapper does not forward all attributes - Fix pbar UnboundLocalError when exception occurs before progress bar init - Use env.unwrapped.seed() in set_seed for the same reason Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Signed-off-by: Clemens Volk <cvolk@nvidia.com>
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Signed-off-by: Clemens Volk <cvolk@nvidia.com>
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After the previous commit stopped unwrapping the env in make_registered(), utility functions and tests that access IsaacLab-specific attributes (scene, cfg, device, termination_manager) now need env.unwrapped to reach past the gymnasium OrderEnforcing wrapper, which has no __getattr__ forwarding in gymnasium 1.2.1. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…cate_asset, test_events Four tests were still accessing IsaacLab-specific attributes (env.scene, env.device) directly on the wrapped env returned by make_registered(). Add .unwrapped to each access site. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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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.