Skip to content

Fix angular velocity observation bug #22

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

Merged
patrickhaoy merged 1 commit into from
Jan 5, 2026
Merged

Fix angular velocity observation bug #22

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
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
6 changes: 3 additions & 3 deletions .../uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/mdp/observations.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,17 +53,17 @@ def asset_link_velocity_in_root_asset_frame(
target_asset: RigidObject | Articulation = env.scene[target_asset_cfg.name]
root_asset: RigidObject | Articulation = env.scene[root_asset_cfg.name]

taget_body_idx = 0 if isinstance(target_asset_cfg.body_ids, slice) else target_asset_cfg.body_ids
target_body_idx = 0 if isinstance(target_asset_cfg.body_ids, slice) else target_asset_cfg.body_ids

asset_lin_vel_b, _ = math_utils.subtract_frame_transforms(
root_asset.data.root_pos_w,
root_asset.data.root_quat_w,
target_asset.data.body_lin_vel_w[:, taget_body_idx].view(-1, 3),
target_asset.data.body_lin_vel_w[:, target_body_idx].view(-1, 3),
)
asset_ang_vel_b, _ = math_utils.subtract_frame_transforms(
root_asset.data.root_pos_w,
root_asset.data.root_quat_w,
target_asset.data.body_lin_vel_w[:, taget_body_idx].view(-1, 3),
target_asset.data.body_ang_vel_w[:, target_body_idx].view(-1, 3),
)

return torch.cat([asset_lin_vel_b, asset_ang_vel_b], dim=1)
6 changes: 3 additions & 3 deletions source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/mdp/observations.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -129,17 +129,17 @@ def asset_link_velocity_in_root_asset_frame(
target_asset: RigidObject | Articulation = env.scene[target_asset_cfg.name]
root_asset: RigidObject | Articulation = env.scene[root_asset_cfg.name]

taget_body_idx = 0 if isinstance(target_asset_cfg.body_ids, slice) else target_asset_cfg.body_ids
target_body_idx = 0 if isinstance(target_asset_cfg.body_ids, slice) else target_asset_cfg.body_ids

asset_lin_vel_b, _ = math_utils.subtract_frame_transforms(
root_asset.data.root_pos_w,
root_asset.data.root_quat_w,
target_asset.data.body_lin_vel_w[:, taget_body_idx].view(-1, 3),
target_asset.data.body_lin_vel_w[:, target_body_idx].view(-1, 3),
)
asset_ang_vel_b, _ = math_utils.subtract_frame_transforms(
root_asset.data.root_pos_w,
root_asset.data.root_quat_w,
target_asset.data.body_lin_vel_w[:, taget_body_idx].view(-1, 3),
target_asset.data.body_ang_vel_w[:, target_body_idx].view(-1, 3),
)

return torch.cat([asset_lin_vel_b, asset_ang_vel_b], dim=1)
Expand Down
Loading