Fixes order of logging metrics and sampling commands in command manager

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.29.2"
+version = "0.29.3"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.29.3 (2024-12-16)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed ordering of logging and resamping in the command manager, where we were logging the metrics after resampling the commands. This leads to incorrect logging of metrics when inside the resample call, the metrics tensors get reset.
+
+
 0.29.2 (2024-12-16)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py

@@ -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):
@@ -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