Skip to content

Fixes in place modification to observation mdp term body_pose when body_ids is either slice or int #4233

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ooctipus wants to merge 3 commits into
base: main
Choose a base branch
from
+14 −1
Open

Fixes in place modification to observation mdp term body_pose when body_ids is either slice or int #4233

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
e19ffec
fixed bug
ooctipus Dec 17, 2025
09da18f
fix format
ooctipus Dec 17, 2025
49f3d45
Merge branch 'main' into fix/body_pose_inplace_op
kellyguo11 Dec 19, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion source/isaaclab/config/extension.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
[package]

# Note: Semantic Versioning is used: https://semver.org/
version = "0.50.5"
version = "0.50.6"

# Description
title = "Isaac Lab framework for Robot Learning"
Expand Down
11 changes: 11 additions & 0 deletions source/isaaclab/docs/CHANGELOG.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,17 @@
Changelog
---------

0.50.6 (2025-12-18)
~~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed issue where :meth:~isaaclab.envs.mdp.observations.body_pose_w` was modifying the original body pose data
when using slice or int for body_ids in the observation config. A clone of the data is now created to avoid modifying
the original data.


0.50.5 (2025-12-15)
~~~~~~~~~~~~~~~~~~~

Expand Down
2 changes: 2 additions & 0 deletions source/isaaclab/isaaclab/envs/mdp/observations.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,6 +154,8 @@ def body_pose_w(

# access the body poses in world frame
pose = asset.data.body_pose_w[:, asset_cfg.body_ids, :7]
if isinstance(asset_cfg.body_ids, (slice, int)):
pose = pose.clone() # if slice or int, make a copy to avoid modifying original data
Comment on lines 156 to +158
Copy link
Contributor

@Mayankm96 Mayankm96 Dec 17, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Or we always clone? I don't think it's that expensive?

Copy link
Contributor

@Mayankm96 Mayankm96 Dec 17, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Can you check if this issue arises some place else by accident

Copy link
Collaborator Author

@ooctipus ooctipus Dec 17, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I checked this should be the only place

pose[..., :3] = pose[..., :3] - env.scene.env_origins.unsqueeze(1)
return pose.reshape(env.num_envs, -1)

Expand Down
Loading