Adds dict conversion test for ActuatorBase configs #1608
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
mschweig
requested review from
Dhoeller19,
Mayankm96,
jsmith-bdai and
kellyguo11
as code owners
6 tasks
|
Thanks for the unit test. A workaround for the issue was merged in #1626, we'll look into a proper fix to support torch tensors for this test case. |
|
Hi @kellyguo11, yes I saw the workaround which changes the attributes of a With this implementation this test case wouldn't make a lot of sense anymore. |
|
Hi @kellyguo11, updated the unittest so it fits to the new |
|
Thanks! Could you please run the formatter |
Hi @kellyguo11
Added All green now. |
AntoineRichard
pushed a commit
to AntoineRichard/IsaacLab
that referenced
this pull request
Jan 15, 2025
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html --> A recent PR (isaac-sim#1530 (comment)) causes issues with joint_parameter_lookup attributes of Articulation Configs. The `class_to_dict` utility function needs to return a primitive dict. Returning a torch.Tensor conflicts with OmegaConf. This PR adds a unittest for the dict conversion as requested by @lgulich so that the issue can be fixed. The test case fails on main branch as expected according to my understanding. Passes on v1.3.0. <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Breaking change (fix or feature that would cause existing functionality to not work as expected) <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## 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 - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
hapatel-bdai
pushed a commit
that referenced
this pull request
Jan 21, 2025
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html --> A recent PR (#1530 (comment)) causes issues with joint_parameter_lookup attributes of Articulation Configs. The `class_to_dict` utility function needs to return a primitive dict. Returning a torch.Tensor conflicts with OmegaConf. This PR adds a unittest for the dict conversion as requested by @lgulich so that the issue can be fixed. The test case fails on main branch as expected according to my understanding. Passes on v1.3.0. <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Breaking change (fix or feature that would cause existing functionality to not work as expected) <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## 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 - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
A recent PR (#1530 (comment)) causes issues with joint_parameter_lookup attributes of Articulation Configs. The
class_to_dictutility function needs to return a primitive dict. Returning a torch.Tensor conflicts with OmegaConf.This PR adds a unittest for the dict conversion as requested by @lgulich so that the issue can be fixed. The test case fails on main branch as expected according to my understanding. Passes on v1.3.0.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there