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Fixes modify_action_space in RslRlVecEnvWrapper #2185

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Merged
merged 5 commits into from
Mar 31, 2025
Merged

Fixes modify_action_space in RslRlVecEnvWrapper #2185

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183da98
Fixes modify_action_space in RslRlVecEnvWrapper
felipemohr Mar 29, 2025
579d74c
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Mayankm96 Mar 31, 2025
85492a4
Merge branch 'main' into fix/rslrl-vecenv-clip-actions
Mayankm96 Mar 31, 2025
15645db
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Mayankm96 Mar 31, 2025
062b362
Updated isaaclab_rl extension.toml version to match Changelog
felipemohr Mar 31, 2025
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Expand Up @@ -49,6 +49,7 @@ Guidelines for modifications:
* CY (Chien-Ying) Chen
* David Yang
* Dorsa Rohani
* Felipe Mohr
* Felix Yu
* Gary Lvov
* Giulio Romualdi
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11 changes: 11 additions & 0 deletions source/isaaclab_rl/docs/CHANGELOG.rst
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@@ -1,6 +1,17 @@
Changelog
---------

0.1.2 (2025-03-29)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the location of :meth:`isaaclab_rl.rsl_rl.RslRlOnPolicyRunnerCfg._modify_action_space`
to be called only after retrieving the dimensions of the environment, preventing errors
related to accessing uninitialized attributes.


0.1.1 (2025-03-10)
~~~~~~~~~~~~~~~~~~

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6 changes: 3 additions & 3 deletions source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py
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Expand Up @@ -58,9 +58,6 @@ def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv, clip_actions: float | N
self.device = self.unwrapped.device
self.max_episode_length = self.unwrapped.max_episode_length

# modify the action space to the clip range
self._modify_action_space()

# obtain dimensions of the environment
if hasattr(self.unwrapped, "action_manager"):
self.num_actions = self.unwrapped.action_manager.total_action_dim
Expand All @@ -81,6 +78,9 @@ def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv, clip_actions: float | N
else:
self.num_privileged_obs = 0

# modify the action space to the clip range
self._modify_action_space()

# reset at the start since the RSL-RL runner does not call reset
self.env.reset()

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