From 35404d4f73e0f310677b9271aa72e5ae2e5de92d Mon Sep 17 00:00:00 2001 From: Aayam Date: Tue, 10 Jan 2023 14:47:09 -0800 Subject: [PATCH 1/2] Add a simulation step in the reset. We are using rigid_body_states to update the observation. however these are not updated till a simulation step happens. so technically we are getting wrong observations at every reset. --- ase/env/tasks/humanoid.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ase/env/tasks/humanoid.py b/ase/env/tasks/humanoid.py index 17d36101..091d1981 100644 --- a/ase/env/tasks/humanoid.py +++ b/ase/env/tasks/humanoid.py @@ -171,6 +171,8 @@ def _reset_envs(self, env_ids): if (len(env_ids) > 0): self._reset_actors(env_ids) self._reset_env_tensors(env_ids) + self.gym.simulte(self.sim) + self.gym.fetch_results(self.sim, True) self._refresh_sim_tensors() self._compute_observations(env_ids) return From cf26c2ad537875255f329206c5286dc20e020e01 Mon Sep 17 00:00:00 2001 From: Aayam Date: Tue, 10 Jan 2023 14:51:25 -0800 Subject: [PATCH 2/2] Update humanoid.py --- ase/env/tasks/humanoid.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ase/env/tasks/humanoid.py b/ase/env/tasks/humanoid.py index 091d1981..99f107b1 100644 --- a/ase/env/tasks/humanoid.py +++ b/ase/env/tasks/humanoid.py @@ -171,7 +171,7 @@ def _reset_envs(self, env_ids): if (len(env_ids) > 0): self._reset_actors(env_ids) self._reset_env_tensors(env_ids) - self.gym.simulte(self.sim) + self.gym.simulate(self.sim) self.gym.fetch_results(self.sim, True) self._refresh_sim_tensors() self._compute_observations(env_ids)