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Fixes action reset of pre_trained_policy_action #1623

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Merged
kellyguo11 merged 1 commit into from
Jan 8, 2025
Merged

Fixes action reset of pre_trained_policy_action #1623

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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Expand Up @@ -66,6 +66,7 @@ Guidelines for modifications:
* Michael Gussert
* Michael Noseworthy
* Muhong Guo
* Nicola Loi
* Nuralem Abizov
* Oyindamola Omotuyi
* Özhan Özen
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2 changes: 1 addition & 1 deletion source/extensions/omni.isaac.lab_tasks/config/extension.toml
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@@ -1,7 +1,7 @@
[package]

# Note: Semantic Versioning is used: https://semver.org/
version = "0.10.17"
version = "0.10.18"

# Description
title = "Isaac Lab Environments"
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9 changes: 9 additions & 0 deletions source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst
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@@ -1,6 +1,15 @@
Changelog
---------

0.10.18 (2025-01-03)
~~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the reset of the actions in the function overriding of the low level observations of :class:`omni.isaac.lab_tasks.manager_based.navigation.mdp.PreTrainedPolicyAction`.


0.10.17 (2024-12-17)
~~~~~~~~~~~~~~~~~~~~

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8 changes: 7 additions & 1 deletion ....lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/mdp/pre_trained_policy_action.py
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Expand Up @@ -50,8 +50,14 @@ def __init__(self, cfg: PreTrainedPolicyActionCfg, env: ManagerBasedRLEnv) -> No
self._low_level_action_term: ActionTerm = cfg.low_level_actions.class_type(cfg.low_level_actions, env)
self.low_level_actions = torch.zeros(self.num_envs, self._low_level_action_term.action_dim, device=self.device)

def last_action():
# reset the low level actions if the episode was reset
if hasattr(env, "episode_length_buf"):
self.low_level_actions[env.episode_length_buf == 0, :] = 0
return self.low_level_actions

# remap some of the low level observations to internal observations
cfg.low_level_observations.actions.func = lambda dummy_env: self.low_level_actions
cfg.low_level_observations.actions.func = lambda dummy_env: last_action()
cfg.low_level_observations.actions.params = dict()
cfg.low_level_observations.velocity_commands.func = lambda dummy_env: self._raw_actions
cfg.low_level_observations.velocity_commands.params = dict()
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