Initialize AMP loader with amp joint names instead of actuated joint names in the AMP Policy Runner #23
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Giulero
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GiulioRomualdi
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Jul 8, 2025
Giulero
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This pull request updates the
amp_on_policy_runner.pyfile to align the code with AMP (Adversarial Motion Prior) observations and ensure compatibility with Manager-Based environments in Isaaclab. The most important changes involve replacingactuated_joint_nameswithamp_joint_namesand adding a note to clarify the configuration requirements.AMP observation compatibility:
amp_rsl_rl/runners/amp_on_policy_runner.py: Replacedactuated_joint_nameswithamp_joint_namesto ensure coherence with AMP observation configurations. This change is tested with Manager-Based environments in Isaaclab. [1] [2]amp_rsl_rl/runners/amp_on_policy_runner.py: Added a comment explaining the need for coherent configuration of observations in the environment with AMP observation settings.