Fixes order of logging metrics and sampling commands in command manag…

…er (#1352)

# Description

In the command manager, we were logging the metrics after resampling the
commands. This leads to incorrect logging of metrics when inside the
`resample` call, the metrics tensors get reset. This MR fixes the order
to make sure the bug doesn't happen.

## 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
- [ ] 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]>
Co-authored-by: Kelly Guo <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.29.2"
+version = "0.29.3"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.29.3 (2024-12-16)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed ordering of logging and resamping in the command manager, where we were logging the metrics after resampling the commands. This leads to incorrect logging of metrics when inside the resample call, the metrics tensors get reset.
+
+
 0.29.2 (2024-12-16)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py

@@ -132,17 +132,20 @@ def reset(self, env_ids: Sequence[int] | None = None) -> dict[str, float]:
         # resolve the environment IDs
         if env_ids is None:
             env_ids = slice(None)
-        # set the command counter to zero
-        self.command_counter[env_ids] = 0
-        # resample the command
-        self._resample(env_ids)
+
         # add logging metrics
         extras = {}
         for metric_name, metric_value in self.metrics.items():
             # compute the mean metric value
             extras[metric_name] = torch.mean(metric_value[env_ids]).item()
             # reset the metric value
             metric_value[env_ids] = 0.0
+
+        # set the command counter to zero
+        self.command_counter[env_ids] = 0
+        # resample the command
+        self._resample(env_ids)
+
         return extras
 
     def compute(self, dt: float):
@@ -175,8 +178,8 @@ def _resample(self, env_ids: Sequence[int]):
         Args:
             env_ids: The list of environment IDs to resample.
         """
-        # resample the time left before resampling
         if len(env_ids) != 0:
+            # resample the time left before resampling
             self.time_left[env_ids] = self.time_left[env_ids].uniform_(*self.cfg.resampling_time_range)
             # increment the command counter
             self.command_counter[env_ids] += 1