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Fixes order of logging metrics and sampling commands in command manager #1352

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Fixes order of logging metrics and sampling commands in command manager #1352

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5da3fec
fixes resample commands order
Mayankm96 Oct 31, 2024
a313769
fixes comment order
Mayankm96 Oct 31, 2024
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13 changes: 8 additions & 5 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -132,17 +132,20 @@ def reset(self, env_ids: Sequence[int] | None = None) -> dict[str, float]:
# resolve the environment IDs
if env_ids is None:
env_ids = slice(None)
# set the command counter to zero
self.command_counter[env_ids] = 0
# resample the command
self._resample(env_ids)

# add logging metrics
extras = {}
for metric_name, metric_value in self.metrics.items():
# compute the mean metric value
extras[metric_name] = torch.mean(metric_value[env_ids]).item()
# reset the metric value
metric_value[env_ids] = 0.0

# set the command counter to zero
self.command_counter[env_ids] = 0
# resample the command
self._resample(env_ids)

return extras

def compute(self, dt: float):
Expand Down Expand Up @@ -175,8 +178,8 @@ def _resample(self, env_ids: Sequence[int]):
Args:
env_ids: The list of environment IDs to resample.
"""
# resample the time left before resampling
if len(env_ids) != 0:
# resample the time left before resampling
self.time_left[env_ids] = self.time_left[env_ids].uniform_(*self.cfg.resampling_time_range)
# increment the command counter
self.command_counter[env_ids] += 1
Expand Down
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