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fix: add try-except block for Isaac Lab compatibility (#9) #10

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fix: add try-except block for Isaac Lab compatibility (#9) #10

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8975232
fix: resolve AttributeError by adding try-except for Isaac Lab compat…
zbbright233 Jun 23, 2026
b68c66d
refactor: optimize compatibility check using hasattr to reduce hot lo…
zbbright233 Jun 23, 2026
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11 changes: 10 additions & 1 deletion ...lab_tutorial/isaac_lab_tutorial/tasks/direct/isaac_lab_tutorial/isaac_lab_tutorial_env.py
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Expand Up @@ -104,7 +104,16 @@ def _apply_action(self) -> None:

def _get_observations(self) -> dict:
self.velocity = self.robot.data.root_com_vel_w
self.forwards = math_utils.quat_apply(self.robot.data.root_link_quat_w.torch, self.robot.data.FORWARD_VEC_B.torch)
# Support both older Isaac Lab (wrapped buffers with .torch accessor) and
# newer Isaac Lab (native PyTorch Tensors returned directly).
quat = self.robot.data.root_link_quat_w
fwd_vec = self.robot.data.FORWARD_VEC_B

if hasattr(quat, "torch"):
quat = quat.torch
fwd_vec = fwd_vec.torch

self.forwards = math_utils.quat_apply(quat, fwd_vec)
# obs = torch.hstack((self.velocity, self.commands))

dot = torch.sum(self.forwards * self.commands, dim=-1, keepdim=True)
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