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Fixes ActionTerm.set_debug_vis crash in kitless mode #5399

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Fixes ActionTerm.set_debug_vis crash in kitless mode #5399

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24c3572
Fixes ActionTerm.set_debug_vis crash in kitless mode
Apr 25, 2026
2e0dc40
Merge branch 'develop' into fix/action-manager-kitless-debug-vis
kellyguo11 Apr 26, 2026
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10 changes: 4 additions & 6 deletions source/isaaclab/isaaclab/managers/action_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,12 +17,8 @@
import torch
from prettytable import PrettyTable

from isaaclab.utils.version import has_kit

if has_kit():
import omni.kit.app

from isaaclab.envs.utils.io_descriptors import GenericActionIODescriptor
from isaaclab.utils.version import has_kit

from .manager_base import ManagerBase, ManagerTermBase
from .manager_term_cfg import ActionTermCfg
Expand Down Expand Up @@ -132,9 +128,11 @@ def set_debug_vis(self, debug_vis: bool) -> bool:
# toggle debug visualization objects
self._set_debug_vis_impl(debug_vis)
# toggle debug visualization handles
if debug_vis:
if debug_vis and has_kit():
# create a subscriber for the post update event if it doesn't exist
if self._debug_vis_handle is None:
import omni.kit.app

app_interface = omni.kit.app.get_app_interface()
self._debug_vis_handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
lambda event, obj=weakref.proxy(self): obj._debug_vis_callback(event)
Expand Down
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