Removes extra calls to write simulation after reset_idx #3446
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ooctipus
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Sep 15, 2025
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| self._reset_idx(reset_env_ids) | ||
| # update articulation kinematics | ||
| self.scene.write_data_to_sim() |
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should we make the same change for direct rl env as well?
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# Description This PR removes the calls into write simulation after reset_idx, I think this is not needed anymore because of PR #2736 Lets see if it passes all test Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Kelly Guo <[email protected]>
ooctipus
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Sep 20, 2025
# Description This PR removes the calls into write simulation after reset_idx, I think this is not needed anymore because of PR isaac-sim#2736 Lets see if it passes all test Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Kelly Guo <[email protected]>
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Description
This PR removes the calls into write simulation after reset_idx,
I think this is not needed anymore because of PR #2736
Lets see if it passes all test
Fixes # (issue)
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there