Allows having hybrid dimensional terms inside an observation group #772
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Dhoeller19
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Aug 2, 2024
source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py
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Dhoeller19
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Co-authored-by: David Hoeller <dhoeller@nvidia.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
jsmith-bdai
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source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py
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source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py
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iamdrfly
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…saac-sim#772) # Description Previously, the observation manager rigidly tried concatenating all the terms along the last dimension at construction. However, when one has hybrid-dimensional terms inside the observation group, this operation would fail, leading to an error. In principle, the concatenation should only happen when users set the attribute `concatenate_terms` to True inside the group settings. This MR lifts the above operation and adds a proper error when users try to concatenate observation terms of different shapes. They must set the concatenation flag to False if they want a "hybrid" observation group. Fixes isaac-sim#768 ## 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` - [x] 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
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Description
Previously, the observation manager rigidly tried concatenating all the terms along the last dimension at construction. However, when one has hybrid-dimensional terms inside the observation group, this operation would fail, leading to an error. In principle, the concatenation should only happen when users set the attribute
concatenate_termsto True inside the group settings.This MR lifts the above operation and adds a proper error when users try to concatenate observation terms of different shapes. They must set the concatenation flag to False if they want a "hybrid" observation group.
Fixes #768
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there