fix direct task check

isaac-sim · Oct 7, 2024 · 870ce8a · 870ce8a
1 parent a120c53
commit 870ce8a
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Showing 2 changed files with 6 additions and 12 deletions.
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py
@@ -114,8 +114,9 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
         print("[INFO]: Scene manager: ", self.scene)
 
         # randomization at scene level
-        with Timer("[INFO]: Time taken for scene randomization", "scene_randomization"):
-            self._apply_scene_randomization()
+        if self.cfg.events:
+            with Timer("[INFO]: Time taken for scene randomization", "scene_randomization"):
+                self._apply_scene_randomization()
 
         # set up camera viewport controller
         # viewport is not available in other rendering modes so the function will throw a warning
@@ -576,10 +577,6 @@ def _apply_scene_randomization(self):
 
         It must be called only before the simulation/physics is started.
         """
-        # check if events exist
-        if not self.cfg.events:
-            return
-
         # check if scene randomization is enabled
         applied_scene_randomization = False
         # iterate over all event terms

diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py
@@ -119,8 +119,9 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         print("[INFO]: Scene manager: ", self.scene)
 
         # randomization at scene level
-        with Timer("[INFO]: Time taken for scene randomization", "scene_randomization"):
-            self._apply_scene_randomization()
+        if not self.cfg.events:
+            with Timer("[INFO]: Time taken for scene randomization", "scene_randomization"):
+                self._apply_scene_randomization()
 
         # set up camera viewport controller
         # viewport is not available in other rendering modes so the function will throw a warning
@@ -518,10 +519,6 @@ def _apply_scene_randomization(self):
 
         It must be called only before the simulation/physics is started.
         """
-        # check if events exist
-        if not self.cfg.events:
-            return
-
         # check if scene randomization is enabled
         applied_scene_randomization = False
         # iterate over all event terms