Reset dataset manager and add head drive properties#369
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July 9, 2026 16:34
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Pull request overview
This PR aims to improve episode-to-episode consistency by resetting dataset-related state during environment resets, and to improve DexforceW1 joint control stability by adding explicit default drive properties for the head joints.
Changes:
- Reset
DatasetManagerstate during_initialize_episode()so dataset functors can clear episode-scoped state on reset. - Add default stiffness/damping/max-effort drive properties for DexforceW1 head joints (
NECK1,NECK2).
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| embodichain/lab/sim/robots/dexforce_w1/cfg.py | Adds head joint regex and default drive property entries for head joints. |
| embodichain/lab/gym/envs/embodied_env.py | Resets dataset manager during episode initialization/reset to keep dataset state consistent across episodes. |
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| if self.cfg.dataset: | ||
| self.dataset_manager.reset(env_ids=env_ids) |
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| if self.cfg.dataset: | ||
| self.dataset_manager.reset(env_ids=env_ids) |
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| if self.cfg.dataset: | ||
| self.dataset_manager.reset(env_ids=env_ids) |
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| if self.cfg.dataset: | ||
| self.dataset_manager.reset(env_ids=env_ids) |
yuecideng
approved these changes
Jul 9, 2026
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Description
This PR resets the dataset manager during environment reset and adds default drive properties for the head joints.
The dataset manager reset keeps dataset-related state consistent across episodes.
The head drive properties make the DexforceW1 head joints use explicit default stiffness, damping, and effort settings.
No new dependencies are required for this change.
Type of change
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Checklist
black .command to format the code base.