Fixes the check for action-space inside Stable-Baselines3 wrapper

source/extensions/omni.isaac.lab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.7.8"
+version = "0.7.9"
 
 # Description
 title = "Isaac Lab Environments"

source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.7.9 (2024-07-01)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the action space check in the Stable-Baselines3 wrapper. Earlier, the wrapper checked
+  the action space via :meth:`gymnasium.spaces.Box.is_bounded` method, which returned a bool
+  value instead of a string.
+
+
 0.7.8 (2024-06-26)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py

@@ -144,13 +144,15 @@ def __init__(self, env: ManagerBasedRLEnv):
         self.num_envs = self.unwrapped.num_envs
         self.sim_device = self.unwrapped.device
         self.render_mode = self.unwrapped.render_mode
+
         # obtain gym spaces
         # note: stable-baselines3 does not like when we have unbounded action space so
         #   we set it to some high value here. Maybe this is not general but something to think about.
         observation_space = self.unwrapped.single_observation_space["policy"]
         action_space = self.unwrapped.single_action_space
-        if isinstance(action_space, gym.spaces.Box) and action_space.is_bounded() != "both":
+        if isinstance(action_space, gym.spaces.Box) and not action_space.is_bounded("both"):
             action_space = gym.spaces.Box(low=-100, high=100, shape=action_space.shape)
+
         # initialize vec-env
         VecEnv.__init__(self, self.num_envs, observation_space, action_space)
         # add buffer for logging episodic information