fix: simplified handling of historical observation parameters, ensuring initialization of the observation history buffer in non-empty cases.

src/rl_sar/scripts/rl_sdk.py

@@ -390,11 +390,7 @@ class RL:
         self.params.decimation = config["decimation"]
         self.params.num_observations = config["num_observations"]
         self.params.observations = config["observations"]
-        if config["observations_history"] is None:
-            self.params.observations_history = None
-        else:
-            self.params.observations_history = config["observations_history"]
-
+        self.params.observations_history = config["observations_history"]
         self.params.clip_obs = config["clip_obs"]
         self.params.action_scale = config["action_scale"]
         self.params.hip_scale_reduction = config["hip_scale_reduction"]

src/rl_sar/scripts/rl_sim.py

@@ -39,7 +39,7 @@ class RL_Sim(RL):
                 self.params.observations[i] = "ang_vel_world"
 
         # history
-        if self.params.observations_history is None:
+        if len(self.params.observations_history) != 0:
             self.history_obs_buf = ObservationBuffer(1, self.params.num_observations, len(self.params.observations_history))
 
         # Due to the fact that the robot_state_publisher sorts the joint names alphabetically,
@@ -205,7 +205,7 @@ class RL_Sim(RL):
     def Forward(self):
         torch.set_grad_enabled(False)
         clamped_obs = self.ComputeObservation()
-        if self.params.observations_history is None:
+        if len(self.params.observations_history) != 0:
             self.history_obs_buf.insert(clamped_obs)
             history_obs = self.history_obs_buf.get_obs_vec(self.params.observations_history)
             actions = self.model.forward(history_obs)

src/rl_sar/src/rl_sim.cpp

@@ -20,7 +20,7 @@ RL_Sim::RL_Sim()
     }
 
     // history
-    if (!this->params.observations_history.empty())
+    if (this->params.observations_history.size() != 0)
     {
         this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, this->params.observations_history.size());
     }
@@ -259,7 +259,7 @@ torch::Tensor RL_Sim::Forward()
     torch::Tensor clamped_obs = this->ComputeObservation();
 
     torch::Tensor actions;
-    if (!this->params.observations_history.empty())
+    if (this->params.observations_history.size() != 0)
     {
         this->history_obs_buf.insert(clamped_obs);
         this->history_obs = this->history_obs_buf.get_obs_vec(this->params.observations_history);