From 3a0945f2f27697b65ffc1ac9d559df61bbc99cb3 Mon Sep 17 00:00:00 2001 From: "-T.K.-" Date: Sun, 22 Dec 2024 23:02:41 -0800 Subject: [PATCH] Update joint_actions.py Signed-off-by: -T.K.- --- .../omni/isaac/lab/envs/mdp/actions/joint_actions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py index e2f95987aa..62feaf7750 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py @@ -69,7 +69,7 @@ def __init__(self, cfg: actions_cfg.JointActionCfg, env: ManagerBasedEnv) -> Non ) # Avoid indexing across all joints for efficiency - if self._num_joints == self._asset.num_joints: + if self._num_joints == self._asset.num_joints and not self.cfg.preserve_order: self._joint_ids = slice(None) # create tensors for raw and processed actions