Adds a validity check for configclasses (isaac-sim#1214)

# Description

Added a mechanism to check for the validity of a configclass object.
A configclass object is valid if it contains no MISSING attributes.

## Type of change

- New feature (non-breaking change which adds functionality)

## 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
- [x] 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

.github/workflows/docs.yaml

@@ -2,12 +2,29 @@ name: Build & deploy docs
 
 on:
   push:
-  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
+  check-secrets:
+    name: Check secrets
+    runs-on: ubuntu-latest
+    outputs:
+      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
+    steps:
+    - id: trigger-deploy
+      env:
+        REPO_NAME: ${{ secrets.REPO_NAME }}
+        BRANCH_REF: ${{ secrets.BRANCH_REF }}
+      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+      run: echo "defined=true" >> "$GITHUB_OUTPUT"
+
   build-docs:
     name: Build Docs
     runs-on: ubuntu-latest
+    needs: [check-secrets]
 
     steps:
     - name: Checkout code
@@ -24,8 +41,8 @@ jobs:
       run: pip install -r requirements.txt
 
     - name: Check branch docs building
-      if: ${{ github.event_name == 'pull_request' }}
       working-directory: ./docs
+      if: needs.check-secrets.outputs.trigger-deploy != 'true'
       run: make current-docs
 
     - name: Generate multi-version docs
@@ -40,19 +57,6 @@ jobs:
         name: docs-html
         path: ./docs/_build
 
-  check-secrets:
-    name: Check secrets
-    runs-on: ubuntu-latest
-    outputs:
-      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
-    steps:
-    - id: trigger-deploy
-      env:
-        REPO_NAME: ${{ secrets.REPO_NAME }}
-        BRANCH_REF: ${{ secrets.BRANCH_REF }}
-      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
-      run: echo "defined=true" >> "$GITHUB_OUTPUT"
-
   deploy-docs:
     name: Deploy Docs
     runs-on: ubuntu-latest

docs/conf.py

@@ -262,7 +262,7 @@
 
 def skip_member(app, what, name, obj, skip, options):
     # List the names of the functions you want to skip here
-    exclusions = ["from_dict", "to_dict", "replace", "copy", "__post_init__"]
+    exclusions = ["from_dict", "to_dict", "replace", "copy", "validate", "__post_init__"]
     if name in exclusions:
         return True
     return None

docs/source/tutorials/03_envs/create_manager_rl_env.rst

@@ -36,7 +36,7 @@ For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_t
 
    .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
       :language: python
-      :emphasize-lines: 63-68, 124-149, 152-162, 165-169, 187-192
+      :emphasize-lines: 117-141, 144-154, 172-174
       :linenos:
 
 The script for running the environment ``run_cartpole_rl_env.py`` is present in the
@@ -117,13 +117,8 @@ For various goal-conditioned tasks, it is useful to specify the goals or command
 handled through the :class:`managers.CommandManager`. The command manager handles resampling and updating the
 commands at each step. It can also be used to provide the commands as an observation to the agent.
 
-For this simple task, we do not use any commands. This is specified by using a command term with the
-:class:`envs.mdp.NullCommandCfg` configuration. However, you can see an example of command definitions in the
-locomotion or manipulation tasks.
-
-.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
-   :language: python
-   :pyobject: CommandsCfg
+For this simple task, we do not use any commands. Hence, we leave this attribute as its default value, which is None.
+You can see an example of how to define a command manager in the other locomotion or manipulation tasks.
 
 Defining curriculum
 -------------------
@@ -134,11 +129,6 @@ we provide a :class:`managers.CurriculumManager` class that can be used to defin
 
 In this tutorial we don't implement a curriculum for simplicity, but you can see an example of a
 curriculum definition in the other locomotion or manipulation tasks.
-We use a simple pass-through curriculum to define a curriculum manager that does not modify the environment.
-
-.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
-   :language: python
-   :pyobject: CurriculumCfg
 
 Tying it all together
 ---------------------

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.26.0"
+version = "0.27.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,23 @@
 Changelog
 ---------
 
+0.27.0 (2024-10-14)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added a method to :class:`~omni.isaac.lab.utils.configclass` to check for attributes with values of
+  type ``MISSING``. This is useful when the user wants to check if a certain attribute has been set or not.
+* Added the configuration validation check inside the constructor of all the core classes
+  (such as sensor base, asset base, scene and environment base classes).
+* Added support for environments without commands by leaving the attribute
+  :attr:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands` as None. Before, this had to be done using
+  the class :class:`omni.isaac.lab.command_generators.NullCommandGenerator`.
+* Moved the ``meshes`` attribute in the :class:`omni.isaac.lab.sensors.RayCaster` class from class variable to instance variable.
+   This prevents the meshes to overwrite each other.
+
+
 0.26.0 (2024-10-16)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py

@@ -59,6 +59,8 @@ def __init__(self, cfg: AssetBaseCfg):
         Raises:
             RuntimeError: If no prims found at input prim path or prim path expression.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs
         self.cfg = cfg
         # flag for whether the asset is initialized

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py

@@ -39,8 +39,9 @@ class InitialStateCfg:
         Defaults to (1.0, 0.0, 0.0, 0.0).
         """
 
-    class_type: type[AssetBase] = MISSING
-    """The associated asset class.
+    class_type: type[AssetBase] = None
+    """The associated asset class. Defaults to None, which means that the asset will be spawned
+    but cannot be interacted with via the asset class.
 
     The class should inherit from :class:`omni.isaac.lab.assets.asset_base.AssetBase`.
     """

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py

@@ -74,6 +74,8 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
             RuntimeError: If a simulation context already exists. The environment must always create one
                 since it configures the simulation context and controls the simulation.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs to class
         self.cfg = cfg
         # store the render mode

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py

@@ -79,6 +79,8 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
             RuntimeError: If a simulation context already exists. The environment must always create one
                 since it configures the simulation context and controls the simulation.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs to class
         self.cfg = cfg
         # store the render mode

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py

@@ -98,7 +98,7 @@ class DirectRLEnvCfg:
     Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` class for more details.
     """
 
-    events: object = None
+    events: object | None = None
     """Event settings. Defaults to None, in which case no events are applied through the event manager.
 
     Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details.

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -69,6 +69,8 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
             RuntimeError: If a simulation context already exists. The environment must always create one
                 since it configures the simulation context and controls the simulation.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs to class
         self.cfg = cfg
         # initialize internal variables

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env_cfg.py

@@ -67,14 +67,14 @@ class ManagerBasedRLEnvCfg(ManagerBasedEnvCfg):
     Please refer to the :class:`omni.isaac.lab.managers.TerminationManager` class for more details.
     """
 
-    curriculum: object = MISSING
-    """Curriculum settings.
+    curriculum: object | None = None
+    """Curriculum settings. Defaults to None, in which case no curriculum is applied.
 
     Please refer to the :class:`omni.isaac.lab.managers.CurriculumManager` class for more details.
     """
 
-    commands: object = MISSING
-    """Command settings.
+    commands: object | None = None
+    """Command settings. Defaults to None, in which case no commands are generated.
 
     Please refer to the :class:`omni.isaac.lab.managers.CommandManager` class for more details.
     """

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions_to_limits.py

@@ -183,9 +183,11 @@ def reset(self, env_ids: Sequence[int] | None = None) -> None:
         # check if specific environment ids are provided
         if env_ids is None:
             env_ids = slice(None)
+        else:
+            env_ids = env_ids[:, None]
         super().reset(env_ids)
         # reset history to current joint positions
-        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids[:, None], self._joint_ids]
+        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids, self._joint_ids]
 
     def process_actions(self, actions: torch.Tensor):
         # apply affine transformations

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py

@@ -37,29 +37,46 @@ class UniformVelocityCommandCfg(CommandTermCfg):
 
     asset_name: str = MISSING
     """Name of the asset in the environment for which the commands are generated."""
-    heading_command: bool = MISSING
-    """Whether to use heading command or angular velocity command.
+
+    heading_command: bool = False
+    """Whether to use heading command or angular velocity command. Defaults to False.
 
     If True, the angular velocity command is computed from the heading error, where the
     target heading is sampled uniformly from provided range. Otherwise, the angular velocity
     command is sampled uniformly from provided range.
     """
-    heading_control_stiffness: float = MISSING
-    """Scale factor to convert the heading error to angular velocity command."""
-    rel_standing_envs: float = MISSING
-    """Probability threshold for environments where the robots that are standing still."""
-    rel_heading_envs: float = MISSING
-    """Probability threshold for environments where the robots follow the heading-based angular velocity command
-    (the others follow the sampled angular velocity command)."""
+
+    heading_control_stiffness: float = 1.0
+    """Scale factor to convert the heading error to angular velocity command. Defaults to 1.0."""
+
+    rel_standing_envs: float = 0.0
+    """The sampled probability of environments that should be standing still. Defaults to 0.0."""
+
+    rel_heading_envs: float = 1.0
+    """The sampled probability of environments where the robots follow the heading-based angular velocity command
+    (the others follow the sampled angular velocity command). Defaults to 1.0.
+
+    This parameter is only used if :attr:`heading_command` is True.
+    """
 
     @configclass
     class Ranges:
         """Uniform distribution ranges for the velocity commands."""
 
-        lin_vel_x: tuple[float, float] = MISSING  # min max [m/s]
-        lin_vel_y: tuple[float, float] = MISSING  # min max [m/s]
-        ang_vel_z: tuple[float, float] = MISSING  # min max [rad/s]
-        heading: tuple[float, float] = MISSING  # min max [rad]
+        lin_vel_x: tuple[float, float] = MISSING
+        """Range for the linear-x velocity command (in m/s)."""
+
+        lin_vel_y: tuple[float, float] = MISSING
+        """Range for the linear-y velocity command (in m/s)."""
+
+        ang_vel_z: tuple[float, float] = MISSING
+        """Range for the angular-z velocity command (in rad/s)."""
+
+        heading: tuple[float, float] | None = None
+        """Range for the heading command (in rad). Defaults to None.
+
+        This parameter is only used if :attr:`~UniformVelocityCommandCfg.heading_command` is True.
+        """
 
     ranges: Ranges = MISSING
     """Distribution ranges for the velocity commands."""
@@ -91,15 +108,17 @@ class Ranges:
         """Normal distribution ranges for the velocity commands."""
 
         mean_vel: tuple[float, float, float] = MISSING
-        """Mean velocity for the normal distribution.
+        """Mean velocity for the normal distribution (in m/s).
 
         The tuple contains the mean linear-x, linear-y, and angular-z velocity.
         """
+
         std_vel: tuple[float, float, float] = MISSING
-        """Standard deviation for the normal distribution.
+        """Standard deviation for the normal distribution (in m/s).
 
         The tuple contains the standard deviation linear-x, linear-y, and angular-z velocity.
         """
+
         zero_prob: tuple[float, float, float] = MISSING
         """Probability of zero velocity for the normal distribution.
 
@@ -118,6 +137,7 @@ class UniformPoseCommandCfg(CommandTermCfg):
 
     asset_name: str = MISSING
     """Name of the asset in the environment for which the commands are generated."""
+
     body_name: str = MISSING
     """Name of the body in the asset for which the commands are generated."""
 
@@ -131,12 +151,23 @@ class UniformPoseCommandCfg(CommandTermCfg):
     class Ranges:
         """Uniform distribution ranges for the pose commands."""
 
-        pos_x: tuple[float, float] = MISSING  # min max [m]
-        pos_y: tuple[float, float] = MISSING  # min max [m]
-        pos_z: tuple[float, float] = MISSING  # min max [m]
-        roll: tuple[float, float] = MISSING  # min max [rad]
-        pitch: tuple[float, float] = MISSING  # min max [rad]
-        yaw: tuple[float, float] = MISSING  # min max [rad]
+        pos_x: tuple[float, float] = MISSING
+        """Range for the x position (in m)."""
+
+        pos_y: tuple[float, float] = MISSING
+        """Range for the y position (in m)."""
+
+        pos_z: tuple[float, float] = MISSING
+        """Range for the z position (in m)."""
+
+        roll: tuple[float, float] = MISSING
+        """Range for the roll angle (in rad)."""
+
+        pitch: tuple[float, float] = MISSING
+        """Range for the pitch angle (in rad)."""
+
+        yaw: tuple[float, float] = MISSING
+        """Range for the yaw angle (in rad)."""
 
     ranges: Ranges = MISSING
     """Ranges for the commands."""
@@ -175,8 +206,10 @@ class Ranges:
 
         pos_x: tuple[float, float] = MISSING
         """Range for the x position (in m)."""
+
         pos_y: tuple[float, float] = MISSING
         """Range for the y position (in m)."""
+
         heading: tuple[float, float] = MISSING
         """Heading range for the position commands (in rad).
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/velocity_command.py

@@ -11,6 +11,8 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
+import omni.log
+
 import omni.isaac.lab.utils.math as math_utils
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import CommandTerm
@@ -49,10 +51,25 @@ def __init__(self, cfg: UniformVelocityCommandCfg, env: ManagerBasedEnv):
         Args:
             cfg: The configuration of the command generator.
             env: The environment.
+
+        Raises:
+            ValueError: If the heading command is active but the heading range is not provided.
         """
         # initialize the base class
         super().__init__(cfg, env)
 
+        # check configuration
+        if self.cfg.heading_command and self.cfg.ranges.heading is None:
+            raise ValueError(
+                "The velocity command has heading commands active (heading_command=True) but the `ranges.heading`"
+                " parameter is set to None."
+            )
+        if self.cfg.ranges.heading and not self.cfg.heading_command:
+            omni.log.warn(
+                f"The velocity command has the 'ranges.heading' attribute set to '{self.cfg.ranges.heading}'"
+                " but the heading command is not active. Consider setting the flag for the heading command to True."
+            )
+
         # obtain the robot asset
         # -- robot
         self.robot: Articulation = env.scene[cfg.asset_name]