[Question] Sensor reset #234
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Hi @samibouziri , This is a limitation of Omniverse and the underlying physics engine. Please check the discussion in #240 for further clarification. For most sensors, at reset, we set their values to "zeros" to avoid bad estimates. This isn't a solution though. We have made a feature request to have full control over updating the rendering and physics engine. Unfortunately, we don't have a timeline yet on when this feature will be available. |
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# Description As pointed out in #234 and #240, the environment returns stale values on reset. Since there is no immediate fix for this, this MR adds the issue to "Known issues" page in the documentation. ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./orbit.sh --test` and they pass - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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# Description Currently, we are downgrading many libraries to be able to use the Gym 0.21.0 version. However, this is not great and is causing issues installing new Python packages, as highlighted in isaac-sim#204. It is becoming a more significant issue with Python 3.10 in Isaac Sim 2023.1. This MR upgrades the repository to use the Gymnasium Environment class. ## Type of Change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: David Hoeller <dhoeller@ethz.ch>
fatimaanes
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# Description Currently, we are downgrading many libraries to be able to use the Gym 0.21.0 version. However, this is not great and is causing issues installing new Python packages, as highlighted in isaac-sim#204. It is becoming a more significant issue with Python 3.10 in Isaac Sim 2023.1. This MR upgrades the repository to use the Gymnasium Environment class. ## Type of Change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: David Hoeller <dhoeller@ethz.ch>
fatimaanes
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Aug 8, 2024
# Description As pointed out in isaac-sim#234 and isaac-sim#240, the environment returns stale values on reset. Since there is no immediate fix for this, this MR adds the issue to "Known issues" page in the documentation. ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./orbit.sh --test` and they pass - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Question
Is there a way to properly reset sensors? What I mean by that is, when resetting the scene with the randomization function
reset_scene_to_defaultthe rigid bodies and the articulation reset their joints and position but for sensors we have to wait one physics step to reset the position (for forward propagation). Meaning directly after reset, if we take an observation from the sensor, that observation will be wrong.The text was updated successfully, but these errors were encountered: