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Bug Fix in AMP Hybrid Init #198

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Bug Fix in AMP Hybrid Init #198

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16 changes: 9 additions & 7 deletions isaacgymenvs/tasks/amp/humanoid_amp_base.py
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Original file line number Diff line number Diff line change
Expand Up @@ -145,6 +145,7 @@ def create_sim(self):

def reset_idx(self, env_ids):
self._reset_actors(env_ids)
self._reset_env_tensors(env_ids)
self._refresh_sim_tensors()
self._compute_observations(env_ids)
return
Expand Down Expand Up @@ -342,17 +343,18 @@ def _compute_humanoid_obs(self, env_ids=None):
return obs

def _reset_actors(self, env_ids):
self._root_states[env_ids] = self._initial_root_states[env_ids]
self._dof_pos[env_ids] = self._initial_dof_pos[env_ids]
self._dof_vel[env_ids] = self._initial_dof_vel[env_ids]

env_ids_int32 = env_ids.to(dtype=torch.int32)
self.gym.set_actor_root_state_tensor_indexed(self.sim,
gymtorch.unwrap_tensor(self._initial_root_states),
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
return

self.gym.set_dof_state_tensor_indexed(self.sim,
gymtorch.unwrap_tensor(self._dof_state),
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
def _reset_env_tensors(self, env_ids):
env_ids_int32 = env_ids.to(dtype=torch.int32)
self.gym.set_actor_root_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._root_states),
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
self.gym.set_dof_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._dof_state),
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))

self.progress_buf[env_ids] = 0
self.reset_buf[env_ids] = 0
Expand Down
17 changes: 1 addition & 16 deletions isaacgymenvs/tasks/humanoid_amp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -159,23 +159,13 @@ def _reset_actors(self, env_ids):
else:
assert(False), "Unsupported state initialization strategy: {:s}".format(str(self._state_init))

self.progress_buf[env_ids] = 0
self.reset_buf[env_ids] = 0
self._terminate_buf[env_ids] = 0

return

def _reset_default(self, env_ids):
self._root_states[env_ids] = self._initial_root_states[env_ids]
self._dof_pos[env_ids] = self._initial_dof_pos[env_ids]
self._dof_vel[env_ids] = self._initial_dof_vel[env_ids]

env_ids_int32 = env_ids.to(dtype=torch.int32)
self.gym.set_actor_root_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._initial_root_states),
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))

self.gym.set_dof_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._dof_state),
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))

self._reset_default_env_ids = env_ids
return

Expand Down Expand Up @@ -264,11 +254,6 @@ def _set_env_state(self, env_ids, root_pos, root_rot, dof_pos, root_vel, root_an
self._dof_pos[env_ids] = dof_pos
self._dof_vel[env_ids] = dof_vel

env_ids_int32 = env_ids.to(dtype=torch.int32)
self.gym.set_actor_root_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._root_states),
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
self.gym.set_dof_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._dof_state),
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
return

def _update_hist_amp_obs(self, env_ids=None):
Expand Down