Adds dict conversion test for ActuatorBase configs

CONTRIBUTORS.md

@@ -84,6 +84,7 @@ Guidelines for modifications:
 * Yujian Zhang
 * Zhengyu Zhang
 * Ziqi Fan
+* Manuel Schweiger
 
 ## Acknowledgements
 

source/extensions/omni.isaac.lab/test/utils/test_configclass.py

@@ -143,6 +143,16 @@ class BasicDemoTorchCfg:
     some_tensor: torch.Tensor = torch.Tensor([1, 2, 3])
 
 
+@configclass
+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])
+    stiffness: float = 1.0
+    damping: float = 2.0
+
+
 """
 Dummy configuration to check type annotations ordering.
 """
@@ -530,6 +540,18 @@ def test_dict_conversion(self):
         self.assertEqual(torch_cfg_dict["some_number"], 0)
         self.assertTrue(torch.all(torch_cfg_dict["some_tensor"] == torch.tensor([1, 2, 3])))
 
+    def test_actuator_cfg_dict_conversion(self):
+        """Test dict conversion of ActuatorConfig."""
+        # create a basic actuator config with a Torch.Tensor (joint_parameter_lookup)
+        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)
+        self.assertTrue(isinstance(actuator_cfg_dict, dict))
+
     def test_dict_conversion_order(self):
         """Tests that order is conserved when converting to dictionary."""
         true_outer_order = ["device_id", "env", "robot_default_state", "list_config"]