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Fixes navigation env config for PresetCfg compatibility #5396

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Fixes navigation env config for PresetCfg compatibility #5396

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e8b90aa
Fixes navigation env config for PresetCfg compatibility
Apr 24, 2026
a9b0bf1
Addresses review feedback: fix ordering, add tests, document import-t…
Apr 24, 2026
2f3865a
Runs ruff formatter and linter
Apr 24, 2026
6e0244d
Merge branch 'develop' into fix/navigation-env-preset-resolution
kellyguo11 Apr 25, 2026
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8 changes: 8 additions & 0 deletions ...aclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,10 @@

import isaaclab_tasks.manager_based.navigation.mdp as mdp
from isaaclab_tasks.manager_based.locomotion.velocity.config.anymal_c.flat_env_cfg import AnymalCFlatEnvCfg
from isaaclab_tasks.utils.hydra import resolve_presets

LOW_LEVEL_ENV_CFG = AnymalCFlatEnvCfg()
resolve_presets(LOW_LEVEL_ENV_CFG)


@configclass
Expand Down Expand Up @@ -137,9 +139,15 @@ def __post_init__(self):

self.sim.dt = LOW_LEVEL_ENV_CFG.sim.dt
self.sim.render_interval = LOW_LEVEL_ENV_CFG.decimation
self.sim.physics_material = self.scene.terrain.physics_material
self.decimation = LOW_LEVEL_ENV_CFG.decimation * 10
self.episode_length_s = self.commands.pose_command.resampling_time_range[1]

# Resolve any PresetCfg wrappers in the scene so that update_period
# is set on the actual sensor config rather than the wrapper (which
# would be discarded by a later resolve_presets call).
resolve_presets(self.scene)
Comment on lines 142 to +150
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@greptile-apps greptile-apps Bot Apr 24, 2026

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P2 physics_material assigned before presets are resolved

self.sim.physics_material is assigned from self.scene.terrain.physics_material on line 142, before resolve_presets(self.scene) is called on line 149. If terrain.physics_material is ever wrapped in a PresetCfg (possible as the preset system expands), the copied value in self.sim.physics_material will be an unresolved wrapper and won't be patched by the subsequent resolve_presets(self.scene) call (which only walks self.scene, not self.sim). Swapping the order to resolve first, then assign, is safer and more consistent with the stated intent of this fix.

Suggested change
self.sim.dt = LOW_LEVEL_ENV_CFG.sim.dt
self.sim.render_interval = LOW_LEVEL_ENV_CFG.decimation
self.sim.physics_material = self.scene.terrain.physics_material
self.decimation = LOW_LEVEL_ENV_CFG.decimation * 10
self.episode_length_s = self.commands.pose_command.resampling_time_range[1]
# Resolve any PresetCfg wrappers in the scene so that update_period
# is set on the actual sensor config rather than the wrapper (which
# would be discarded by a later resolve_presets call).
resolve_presets(self.scene)
self.sim.dt = LOW_LEVEL_ENV_CFG.sim.dt
self.sim.render_interval = LOW_LEVEL_ENV_CFG.decimation
self.decimation = LOW_LEVEL_ENV_CFG.decimation * 10
self.episode_length_s = self.commands.pose_command.resampling_time_range[1]
# Resolve any PresetCfg wrappers in the scene so that update_period
# is set on the actual sensor config rather than the wrapper (which
# would be discarded by a later resolve_presets call).
resolve_presets(self.scene)
self.sim.physics_material = self.scene.terrain.physics_material


if self.scene.height_scanner is not None:
self.scene.height_scanner.update_period = (
self.actions.pre_trained_policy_action.low_level_decimation * self.sim.dt
Expand Down
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