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Update random_policy.py to sample actions on GPU #51

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Update random_policy.py to sample actions on GPU #51

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7 changes: 6 additions & 1 deletion omniisaacgymenvs/scripts/random_policy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,12 @@ def parse_hydra_configs(cfg: DictConfig):
if env._world.is_playing():
if env._world.current_time_step_index == 0:
env._world.reset(soft=True)
actions = torch.tensor(np.array([env.action_space.sample() for _ in range(env.num_envs)]), device=task.rl_device)

# get upper and lower bounds of action space, sample actions randomly on this interval
action_high = env.action_space.high[0]
action_low = env.action_space.low[0]
actions = (action_high - action_low) * torch.rand(env.num_envs, env.action_space.shape[0]), device=task.rl_device) - action_high

env._task.pre_physics_step(actions)
env._world.step(render=render)
env.sim_frame_count += 1
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