Fixes outdated sensor data after reset #1276
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kellyguo11
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Dhoeller19,
Mayankm96 and
jsmith-bdai
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Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py
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source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py
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source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py
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From an understanding standpoint, if a user sets robot state for articulation, isn't the base pose also updated in non-rendering sensors because the "views" capture the same memory. What does the update fabric do? 👀 Also can we have some sort of test to make sure this behavior is always verified (for sensors)? |
| self.set_setting("/app/player/playSimulations", True) | ||
| else: | ||
| # manually flush the fabric data to update Hydra textures | ||
| if self._fabric_iface is not None: |
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Hm this would break non env workflows where users didn't need to call a forward function. Maybe we add a flag on whether forward was called and in-case it wasn't, we do it implicitly?
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This shouldn't actually change any logic right? It's just moving a piece of the code into a method.
I think it's needed for capturing updates from the dof states and propagating those to the bodies. Added a test case for it. |
Signed-off-by: Kelly Guo <[email protected]>
…into sensor_reset
source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py
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Signed-off-by: Kelly Guo <[email protected]>
# Description This change adds a call to `update_articulations_kinematic()` after performing reset in an environment to ensure that non-render sensors are updated after performing reset. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Kelly Guo <[email protected]>
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Description
This change adds a call to
update_articulations_kinematic()after performing reset in an environment to ensure that non-render sensors are updated after performing reset.Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there