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Fixes the issue of using Modifiers and history buffer together #2461

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Merged
merged 2 commits into from
May 16, 2025
Merged

Fixes the issue of using Modifiers and history buffer together #2461

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a4f2e1c
Fixes observation manager history buffer building order
ZiwenZhuang May 10, 2025
698ef37
Merge branch 'main' into fix/observation-modifier-history
jtigue-bdai May 15, 2025
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26 changes: 13 additions & 13 deletions source/isaaclab/isaaclab/managers/observation_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -442,19 +442,6 @@ def _prepare_terms(self):
# call function the first time to fill up dimensions
obs_dims = tuple(term_cfg.func(self._env, **term_cfg.params).shape)

# create history buffers and calculate history term dimensions
if term_cfg.history_length > 0:
group_entry_history_buffer[term_name] = CircularBuffer(
max_len=term_cfg.history_length, batch_size=self._env.num_envs, device=self._env.device
)
old_dims = list(obs_dims)
old_dims.insert(1, term_cfg.history_length)
obs_dims = tuple(old_dims)
if term_cfg.flatten_history_dim:
obs_dims = (obs_dims[0], np.prod(obs_dims[1:]))

self._group_obs_term_dim[group_name].append(obs_dims[1:])

# if scale is set, check if single float or tuple
if term_cfg.scale is not None:
if not isinstance(term_cfg.scale, (float, int, tuple)):
Expand Down Expand Up @@ -518,6 +505,19 @@ def _prepare_terms(self):
f" and optional parameters: {args_with_defaults}, but received: {term_params}."
)

# create history buffers and calculate history term dimensions
if term_cfg.history_length > 0:
group_entry_history_buffer[term_name] = CircularBuffer(
max_len=term_cfg.history_length, batch_size=self._env.num_envs, device=self._env.device
)
old_dims = list(obs_dims)
old_dims.insert(1, term_cfg.history_length)
obs_dims = tuple(old_dims)
if term_cfg.flatten_history_dim:
obs_dims = (obs_dims[0], np.prod(obs_dims[1:]))

self._group_obs_term_dim[group_name].append(obs_dims[1:])

# add term in a separate list if term is a class
if isinstance(term_cfg.func, ManagerTermBase):
self._group_obs_class_term_cfgs[group_name].append(term_cfg)
Expand Down