fixing observation history shuffling bug

nv-tlabs · Jan 9, 2023 · de18a56 · de18a56
1 parent da6cf2e
commit de18a56
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/ase/env/tasks/humanoid_amp.py b/ase/env/tasks/humanoid_amp.py
@@ -275,9 +275,11 @@ def _set_env_state(self, env_ids, root_pos, root_rot, dof_pos, root_vel, root_an
 
     def _update_hist_amp_obs(self, env_ids=None):
         if (env_ids is None):
-            self._hist_amp_obs_buf[:] = self._amp_obs_buf[:, 0:(self._num_amp_obs_steps - 1)]
+            for i in reversed(range(self._amp_obs_buf.shape[1] - 1)):
+                self._amp_obs_buf[:, i + 1] = self._amp_obs_buf[:, i]
         else:
-            self._hist_amp_obs_buf[env_ids] = self._amp_obs_buf[env_ids, 0:(self._num_amp_obs_steps - 1)]
+            for i in reversed(range(self._amp_obs_buf.shape[1] - 1)):
+                self._amp_obs_buf[env_ids, i + 1] = self._amp_obs_buf[env_ids, i]
         return
 
     def _compute_amp_observations(self, env_ids=None):