Adds body_pose_w and body_projected_gravity_b observations #2212
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jtigue-bdai
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Mayankm96,
jsmith-bdai and
kellyguo11
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Mayankm96
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Apr 1, 2025
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| def link_pose( |
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Can we simply call it body_pose_w? What happens if user specifies a list of body ids? I think their flattned version should be given?
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Instead of link_name they must use body_names in asset config IMO.
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yeah body_pose_w is fine, and body_name is fine. I will switch to body vs link everywhere. (old habit to use link).
As far as the body_ids goes currently this observation will only produce one body driven by (link_name/body_name argument). if the users doesn't set the link name it will grab only the zeroth entry specified in the resolved SceneEntityCfg. So if they specify a list of body_ids they can only pick one of them.
I could see creating it in a way that all body_ids specified in the asset_cfg are provided in a flattened tensor, but this wasn't my original intention.
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I think flattening it is the most general way to go. If they want the "zeroth" body which is the root, then they should use the root_ alternative functions.
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Thats valid. I will rework it.
jtigue-bdai
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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
kellyguo11
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May 2, 2025
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
kellyguo11
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May 2, 2025
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…#2212) # 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/main/source/refs/contributing.html --> This PR add body_pose_w and body_projected_gravity_b observation methods Fixes # (issue) <!-- 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. --> - New feature (non-breaking change which adds functionality) <!-- 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` - [x] 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 - [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 <!-- 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 --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
harry-wf-cheung
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…#2212) # 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/main/source/refs/contributing.html --> This PR add body_pose_w and body_projected_gravity_b observation methods Fixes # (issue) <!-- 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. --> - New feature (non-breaking change which adds functionality) <!-- 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` - [x] 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 - [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 <!-- 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 --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
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Description
This PR add body_pose_w and body_projected_gravity_b observation methods
Fixes # (issue)
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there