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isaac-sim / IsaacGymEnvs

Isaac Gym Reinforcement Learning Environments
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[bug] stepping twice in pre_physics_step in anymal_terrain.py #60

Closed boxiXia closed 2 years ago

boxiXia commented 2 years ago

Stepping is done twice in anymal_terrain.py pre_physics_step() and vec_task.py step():

https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/6da538b44618afb9086be30371e5466ea182c2bf/isaacgymenvs/tasks/anymal_terrain.py#L446

https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/6da538b44618afb9086be30371e5466ea182c2bf/isaacgymenvs/tasks/base/vec_task.py#L334

Should only one stepping be done?

gavrielstate commented 2 years ago

AnymalTerrain has an additional control decimation parameter: https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/isaacgymenvs/cfg/task/AnymalTerrain.yaml#L48

It may have originally been written this way prior to the introduction of the controlFrequencyInv parameter though, and it may be that it could be refactored to use that instead.