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Adds clip range for JointAction #1476

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merged 9 commits into from
Dec 15, 2024
Merged

Adds clip range for JointAction #1476

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1238d7a
feat: add clip range of JointAction
fan-ziqi Nov 28, 2024
bab210d
feat: add clip-cfg to ActionTermCfg && add clip to all mdp/actions
fan-ziqi Dec 7, 2024
7f98385
fix: del debug print
fan-ziqi Dec 7, 2024
a1ed867
preprocess in init
fan-ziqi Dec 12, 2024
2b659a8
Merge branch 'main' into devel-action-clip
fan-ziqi Dec 12, 2024
9ee40d1
add changelog
fan-ziqi Dec 12, 2024
1454d3a
update extension.toml
fan-ziqi Dec 12, 2024
ea063ca
use repeat instead of expand+clone && code format
fan-ziqi Dec 13, 2024
a230595
Merge branch 'main' into devel-action-clip
kellyguo11 Dec 15, 2024
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fix: del debug print
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@fan-ziqi
fan-ziqi committed Dec 7, 2024
commit 7f983855f1a55db0cad9ef52bc94cfe378cbdf91
1 change: 0 additions & 1 deletion source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py
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Expand Up @@ -134,7 +134,6 @@ def process_actions(self, actions: torch.Tensor):
index_list, _, value_list = string_utils.resolve_matching_names_values(self._clip, self._joint_names)
for index in range(len(index_list)):
min_value, max_value = value_list[index]
print(value_list[index])
self._processed_actions[:, index_list[index]].clip_(min_value, max_value)

def reset(self, env_ids: Sequence[int] | None = None) -> None:
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8 changes: 1 addition & 7 deletions ...saac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py
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Expand Up @@ -109,13 +109,7 @@ class CommandsCfg:
class ActionsCfg:
"""Action specifications for the MDP."""

joint_pos = mdp.JointPositionActionCfg(
asset_name="robot",
joint_names=[".*"],
scale=0.5,
use_default_offset=True,
clip={".*": (-100.0, 100.0)}, # only for test
)
joint_pos = mdp.JointPositionActionCfg(asset_name="robot", joint_names=[".*"], scale=0.5, use_default_offset=True)


@configclass
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