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fix libero reset logic for correct resetting (#2817)

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Sung-Wook Lee
2026-01-19 07:18:52 -05:00
committed by GitHub
parent 46e19ae579
commit da41646073
1 changed files with 2 additions and 2 deletions
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src/lerobot/envs/libero.py
+2 -2
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@@ -293,9 +293,9 @@ class LiberoEnv(gym.Env):
def reset(self, seed=None, **kwargs):
super().reset(seed=seed)
self._env.seed(seed)
if self.init_states and self._init_states is not None:
self._env.set_init_state(self._init_states[self._init_state_id])
raw_obs = self._env.reset()
if self.init_states and self._init_states is not None:
raw_obs = self._env.set_init_state(self._init_states[self._init_state_id])
# After reset, objects may be unstable (slightly floating, intersecting, etc.).
# Step the simulator with a no-op action for a few frames so everything settles.