Fixes modify_action_space in RslRlVecEnvWrapper (#2185)

# Description

This PR corrects the position of the method
`self._modify_action_space()` in the RSL-RL Wrapper, so that it is only
called after retrieving the dimensions of the environment, preventing
errors related to the use of uninitialized attributes when using
`clip_actions` in `RslRlVecEnvWrapper`.

Fixes #2184

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [X] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [X] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [X] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Mayank Mittal <[email protected]>
Co-authored-by: Mayank Mittal <[email protected]>

Author: felipemohr

CONTRIBUTORS.md

@@ -49,6 +49,7 @@ Guidelines for modifications:
 * CY (Chien-Ying) Chen
 * David Yang
 * Dorsa Rohani
+* Felipe Mohr
 * Felix Yu
 * Gary Lvov
 * Giulio Romualdi

source/isaaclab_rl/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.1.2"
+version = "0.1.3"
 
 # Description
 title = "Isaac Lab RL"

source/isaaclab_rl/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.1.3 (2025-03-31)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the location of :meth:`isaaclab_rl.rsl_rl.RslRlOnPolicyRunnerCfg._modify_action_space`
+  to be called only after retrieving the dimensions of the environment, preventing errors
+  related to accessing uninitialized attributes.
+
+
 0.1.2 (2025-03-28)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py

@@ -58,9 +58,6 @@ def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv, clip_actions: float | N
         self.device = self.unwrapped.device
         self.max_episode_length = self.unwrapped.max_episode_length
 
-        # modify the action space to the clip range
-        self._modify_action_space()
-
         # obtain dimensions of the environment
         if hasattr(self.unwrapped, "action_manager"):
             self.num_actions = self.unwrapped.action_manager.total_action_dim
@@ -81,6 +78,9 @@ def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv, clip_actions: float | N
         else:
             self.num_privileged_obs = 0
 
+        # modify the action space to the clip range
+        self._modify_action_space()
+
         # reset at the start since the RSL-RL runner does not call reset
         self.env.reset()