fix history buffer

src/rl_sar/library/core/observation_buffer/observation_buffer.cpp

@@ -38,10 +38,18 @@ void ObservationBuffer::insert(torch::Tensor new_obs)
     obs_buf.index({torch::indexing::Slice(torch::indexing::None), torch::indexing::Slice(-num_obs, torch::indexing::None)}) = new_obs;
 }
 
+/**
+ * @brief Gets history of observations indexed by obs_ids.
+ *
+ * @param obs_ids An array of integers with which to index the desired
+ *                observations, where 0 is the latest observation and
+ *                include_history_steps - 1 is the oldest observation.
+ * @return A torch::Tensor containing the concatenated observations.
+ */
 torch::Tensor ObservationBuffer::get_obs_vec(std::vector<int> obs_ids)
 {
     std::vector<torch::Tensor> obs;
-    for (int i = obs_ids.size() - 1; i >= 0; --i)
+    for (int i = 0; i < obs_ids.size(); ++i)
     {
         int obs_id = obs_ids[i];
         int slice_idx = include_history_steps - obs_id - 1;

src/rl_sar/models/a1/legged_gym/config.yaml

@@ -8,7 +8,7 @@ a1/legged_gym:
   decimation: 4
   num_observations: 45
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: [0, 1, 2, 3, 4, 5]
+  observations_history: [5, 4, 3, 2, 1, 0]  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-100.0, -100.0, -100.0,
                        -100.0, -100.0, -100.0,

src/rl_sar/models/a1/robot_lab/config.yaml

@@ -8,7 +8,7 @@ a1/robot_lab:
   decimation: 4
   num_observations: 45
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
+  observations_history: []  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-100.0, -100.0, -100.0,
                        -100.0, -100.0, -100.0,

src/rl_sar/models/b2/robot_lab/config.yaml

@@ -8,7 +8,7 @@ b2/robot_lab:
   decimation: 4
   num_observations: 45
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
+  observations_history: []  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-100.0, -100.0, -100.0,
                        -100.0, -100.0, -100.0,

src/rl_sar/models/b2w/robot_lab/config.yaml

@@ -5,7 +5,7 @@ b2w/robot_lab:
   decimation: 4
   num_observations: 57
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
+  observations_history: []  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-100.0, -100.0, -100.0,
                        -100.0, -100.0, -100.0,

src/rl_sar/models/go2/himloco/config.yaml

@@ -8,7 +8,7 @@ go2/himloco:
   decimation: 4
   num_observations: 45
   observations: ["commands", "ang_vel", "gravity_vec", "dof_pos", "dof_vel", "actions"]
-  observations_history: [5, 4, 3, 2, 1, 0]
+  observations_history: [0, 1, 2, 3, 4, 5]  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-100, -100, -100,
                        -100, -100, -100,

src/rl_sar/models/go2/robot_lab/config.yaml

@@ -8,7 +8,7 @@ go2/robot_lab:
   decimation: 4
   num_observations: 45
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
+  observations_history: []  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-100.0, -100.0, -100.0,
                        -100.0, -100.0, -100.0,

src/rl_sar/models/go2w/robot_lab/config.yaml

@@ -5,7 +5,7 @@ go2w/robot_lab:
   decimation: 4
   num_observations: 57
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
+  observations_history: []  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-100.0, -100.0, -100.0,
                        -100.0, -100.0, -100.0,

src/rl_sar/models/gr1t1/legged_gym/config.yaml

@@ -8,7 +8,7 @@ gr1t1/legged_gym:
   decimation: 20
   num_observations: 39
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
+  observations_history: []  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
                        -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]

src/rl_sar/models/gr1t2/legged_gym/config.yaml

@@ -8,7 +8,7 @@ gr1t2/legged_gym:
   decimation: 20
   num_observations: 39
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
+  observations_history: []  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
                        -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]

src/rl_sar/models/l4w4/legged_gym/config.yaml

@@ -10,7 +10,7 @@ l4w4/legged_gym:
   decimation: 4
   num_observations: 57
   observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+  observations_history: [9, 8, 7, 6, 5, 4, 3, 2, 1, 0]  # 0 is the latest observation
   clip_obs: 100.0
   clip_actions_lower: [-100.0, -100.0, -100.0, -100.0,
                        -100.0, -100.0, -100.0, -100.0,

src/rl_sar/scripts/observation_buffer.py

@@ -29,12 +29,12 @@ class ObservationBuffer:
 
         Arguments:
             obs_ids: An array of integers with which to index the desired
-                observations, where 0 is the latest observation and
-                include_history_steps - 1 is the oldest observation.
+                     observations, where 0 is the latest observation and
+                     include_history_steps - 1 is the oldest observation.
         """
 
         obs = []
-        for obs_id in reversed(obs_ids):
+        for obs_id in obs_ids:
             slice_idx = self.include_history_steps - obs_id - 1
             obs.append(self.obs_buf[:, slice_idx * self.num_obs : (slice_idx + 1) * self.num_obs])
         return torch.cat(obs, dim=-1)