[Exp] Cherry-pick manager-based warp env infrastructure from dev/newton

source/isaaclab/isaaclab/managers/observation_manager.py

@@ -512,6 +512,7 @@ def _prepare_terms(self):
 
             # read common config for the group
             self._group_obs_concatenate[group_name] = group_cfg.concatenate_terms
+            # to account for the batch dimension
             self._group_obs_concatenate_dim[group_name] = (
                 group_cfg.concatenate_dim + 1 if group_cfg.concatenate_dim >= 0 else group_cfg.concatenate_dim
             )
@@ -550,7 +551,7 @@ def _prepare_terms(self):
                 if group_cfg.history_length is not None:
                     term_cfg.history_length = group_cfg.history_length
                     term_cfg.flatten_history_dim = group_cfg.flatten_history_dim
-                # add term config to list to list
+                # add term config to list
                 self._group_obs_term_names[group_name].append(term_name)
                 self._group_obs_term_cfgs[group_name].append(term_cfg)
 
@@ -604,6 +605,9 @@ def _prepare_terms(self):
                                 f" Received: {mod_cfg.func}"
                             )
 
+                        # TODO(jichuanh): improvement can be made in two ways:
+                        #                 1. modifier specific check can be done in the modifier class
+                        #                 2. general param vs function matching check can be a common utility
                         # check if term's arguments are matched by params
                         term_params = list(mod_cfg.params.keys())
                         args = inspect.signature(mod_cfg.func).parameters

source/isaaclab_experimental/isaaclab_experimental/envs/__init__.py

@@ -44,8 +44,12 @@
 
 from .direct_rl_env_warp import DirectRLEnvWarp  # noqa: F401
 from .interactive_scene_warp import InteractiveSceneWarp  # noqa: F401
+from .manager_based_env_warp import ManagerBasedEnvWarp  # noqa: F401
+from .manager_based_rl_env_warp import ManagerBasedRLEnvWarp  # noqa: F401
 
 __all__ = [
     "DirectRLEnvWarp",
     "InteractiveSceneWarp",
+    "ManagerBasedEnvWarp",
+    "ManagerBasedRLEnvWarp",
 ]