Hi there!
When looking source code of isaac gym introductions about 9.8. Custom RL Example using Stable Baselines(9.8. Custom RL Example using Stable Baselines — Omniverse IsaacSim latest documentation), I find a question in pre_physics_step() function. In this function, envs are reseted before applying actions(figure 1). It means we applied actions computed using last terminated obs to envs reseted with totally different obs.Then I checked other codes in Omniisaacgymenvs, and I find same situations (figure 2). I don’t know whether it is reasonable. Or maybe I miss something.
Thanks for help!
