Fixes noise_model initialized in direct_marl_env (#1480)

# Description This change fixes bugs in `DirectMARLEnv` class, where previously `_action_noise_model` and `_observation_noise_model` cannot successfully initialized when the noise-model-cfg passed in. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: zhouhaoran <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
isaac-sim · Dec 5, 2024 · b0312db · b0312db
1 parent 63bd428
commit b0312db
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Showing 4 changed files with 13 additions and 3 deletions.
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -47,6 +47,7 @@ Guidelines for modifications:
 * Felix Yu
 * Gary Lvov
 * Giulio Romualdi
+* Haoran Zhou
 * HoJin Jeon
 * Jan Kerner
 * Jean Tampon

diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.27.17"
+version = "0.27.18"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.27.18 (2024-12-04)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the order of the incoming parameters in :class:`omni.isaac.lab.envs.DirectMARLEnv` to correctly use ``NoiseModel`` in marl-envs.
+
+
 0.27.17 (2024-12-02)
 ~~~~~~~~~~~~~~~~~~~~
 

diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py
@@ -175,13 +175,13 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
         # setup noise cfg for adding action and observation noise
         if self.cfg.action_noise_model:
             self._action_noise_model: dict[AgentID, NoiseModel] = {
-                agent: noise_model.class_type(self.num_envs, noise_model, self.device)
+                agent: noise_model.class_type(noise_model, num_envs=self.num_envs, device=self.device)
                 for agent, noise_model in self.cfg.action_noise_model.items()
                 if noise_model is not None
             }
         if self.cfg.observation_noise_model:
             self._observation_noise_model: dict[AgentID, NoiseModel] = {
-                agent: noise_model.class_type(self.num_envs, noise_model, self.device)
+                agent: noise_model.class_type(noise_model, num_envs=self.num_envs, device=self.device)
                 for agent, noise_model in self.cfg.observation_noise_model.items()
                 if noise_model is not None
             }