Fixes outdated sensor data after reset

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py

@@ -344,6 +344,8 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
         reset_env_ids = self.reset_buf.nonzero(as_tuple=False).squeeze(-1)
         if len(reset_env_ids) > 0:
             self._reset_idx(reset_env_ids)
+            # update articulation kinematics
+            self.sim.update_fabric_and_kinematics()
             # if sensors are added to the scene, make sure we render to reflect changes in reset
             if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
                 self.sim.render()

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -251,6 +251,8 @@ def reset(self, seed: int | None = None, options: dict[str, Any] | None = None)
         indices = torch.arange(self.num_envs, dtype=torch.int64, device=self.device)
         self._reset_idx(indices)
 
+        # update articulation kinematics
+        self.sim.update_fabric_and_kinematics()
         # if sensors are added to the scene, make sure we render to reflect changes in reset
         if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
             self.sim.render()

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py

@@ -194,6 +194,8 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
         reset_env_ids = self.reset_buf.nonzero(as_tuple=False).squeeze(-1)
         if len(reset_env_ids) > 0:
             self._reset_idx(reset_env_ids)
+            # update articulation kinematics
+            self.sim.update_fabric_and_kinematics()
             # if sensors are added to the scene, make sure we render to reflect changes in reset
             if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
                 self.sim.render()

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py

@@ -394,6 +394,14 @@ def get_setting(self, name: str) -> Any:
         """
         return self._settings.get(name)
 
+    def update_fabric_and_kinematics(self) -> None:
+        """Updates articulation kinematics and fabric for rendering."""
+        if self._fabric_iface is not None:
+            if self.physics_sim_view is not None and self.is_playing():
+                # Update the articulations' link's poses before rendering
+                self.physics_sim_view.update_articulations_kinematic()
+            self._update_fabric(0.0, 0.0)
+
     """
     Operations - Override (standalone)
     """
@@ -464,11 +472,7 @@ def render(self, mode: RenderMode | None = None):
                 self.set_setting("/app/player/playSimulations", True)
         else:
             # manually flush the fabric data to update Hydra textures
-            if self._fabric_iface is not None:
-                if self.physics_sim_view is not None and self.is_playing():
-                    # Update the articulations' link's poses before rendering
-                    self.physics_sim_view.update_articulations_kinematic()
-                self._update_fabric(0.0, 0.0)
+            self.update_fabric_and_kinematics()
             # render the simulation
             # note: we don't call super().render() anymore because they do above operation inside
             #  and we don't want to do it twice. We may remove it once we drop support for Isaac Sim 2022.2.

source/extensions/omni.isaac.lab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.7"
+version = "0.10.8"
 
 # Description
 title = "Isaac Lab Environments"

source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.10.8 (2024-10-20)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Added call to update articulation kinematics after reset to ensure updated states in non-rendering sensors.
+
+
 0.10.7 (2024-10-02)
 ~~~~~~~~~~~~~~~~~~~