[Bug Report] Unintended in-place operation in body_pose_w #4211
Description
Describe the bug
In the function body_pose_w of observations.py, the part that subtracts env origins modifies the original tensor with in-place operation.
Steps to reproduce
If I print out the body pose in the function like this
@generic_io_descriptor(observation_type="BodyState", on_inspect=[record_shape, record_dtype, record_body_names]) def body_pose_w( env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"), ) -> torch.Tensor: """The flattened body poses of the asset w.r.t the env.scene.origin. Note: Only the bodies configured in :attr:`asset_cfg.body_ids` will have their poses returned. Args: env: The environment. asset_cfg: The SceneEntity associated with this observation. Returns: The poses of bodies in articulation [num_env, 7 * num_bodies]. Pose order is [x,y,z,qw,qx,qy,qz]. Output is stacked horizontally per body. """ # extract the used quantities (to enable type-hinting) asset: Articulation = env.scene[asset_cfg.name] # access the body poses in world frame print(f"BEFORE:{asset.data.body_pose_w[0,0]}") pose = asset.data.body_pose_w[:, asset_cfg.body_ids, :7] pose[..., :3] = pose[..., :3] - env.scene.env_origins.unsqueeze(1) print(f"AFTER:{asset.data.body_pose_w[0,0]}") return pose.reshape(env.num_envs, -1)The result becomes
BEFORE:tensor([-1.2500, 1.2500, 0.8004, 0.7057, -0.0245, 0.0393, -0.7070], device='cuda:0') AFTER:tensor([-2.5000, 2.5000, 0.8004, 0.7057, -0.0245, 0.0393, -0.7070], device='cuda:0')This may effect other observation, rewards, terminations or etc during the training. I suggest to change
pose = asset.data.body_pose_w[:, asset_cfg.body_ids, :7] to
pose = asset.data.body_pose_w[:, asset_cfg.body_ids, :7].clone() Checklist
- I have checked that there is no similar issue in the repo (required)
- I have checked that the issue is not in running Isaac Sim itself and is related to the repo
Acceptance Criteria
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- Criteria 1 : Get a reply whether this is intended, and if not fix the bug.