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Adds dict conversion test for ActuatorBase configs #1608

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merged 8 commits into from
Jan 13, 2025
Merged

Adds dict conversion test for ActuatorBase configs #1608

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f846880
test: add unittest for dict conversion of ActuatorCfg
mschweig Dec 28, 2024
0578280
chore: ran isaaclab formatter using --format
mschweig Dec 28, 2024
2675b21
chore: add name to contributors
mschweig Dec 28, 2024
d802a56
chore: update contributors
mschweig Jan 2, 2025
48391cb
Merge branch 'main' into test/add-actuatorcfg-test
mschweig Jan 12, 2025
7a3ba4d
fix: update unittest to new actuatorconfig
mschweig Jan 12, 2025
99b0a1d
chore: add ignore to precommit
mschweig Jan 13, 2025
7d70657
chore: ignore CONTRIBUTORS.md spellcheck
mschweig Jan 13, 2025
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fix: update unittest to new actuatorconfig
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@mschweig
mschweig committed Jan 12, 2025
commit 7a3ba4dd0f439502d2597595956f438ec64c8d1d
6 changes: 3 additions & 3 deletions source/extensions/omni.isaac.lab/test/utils/test_configclass.py
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Expand Up @@ -148,7 +148,7 @@ class BasicActuatorCfg:
"""Dummy configuration class for ActuatorBase config."""

joint_names_expr: list[str] = ["some_string"]
joint_parameter_lookup: torch.Tensor = torch.Tensor([1, 2, 3])
joint_parameter_lookup: list[list[float]] = [[1, 2, 3], [4, 5, 6]]
stiffness: float = 1.0
damping: float = 2.0

Expand Down Expand Up @@ -542,14 +542,14 @@ def test_dict_conversion(self):

def test_actuator_cfg_dict_conversion(self):
"""Test dict conversion of ActuatorConfig."""
# create a basic actuator config with a Torch.Tensor (joint_parameter_lookup)
# create a basic RemotizedPDActuator config
actuator_cfg = BasicActuatorCfg()
# return writable attributes of config object
actuator_cfg_dict_attr = actuator_cfg.__dict__
# check if __dict__ attribute of config is not empty
self.assertTrue(len(actuator_cfg_dict_attr) > 0)
# class_to_dict utility function should return a primitive dictionary
actuator_cfg_dict = class_to_dict(actuator_cfg.joint_parameter_lookup)
actuator_cfg_dict = class_to_dict(actuator_cfg)
self.assertTrue(isinstance(actuator_cfg_dict, dict))

def test_dict_conversion_order(self):
Expand Down
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