Integrates NoiseModel to manager-based workflows
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ozhanozen
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Mayankm96,
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@zoctipus could you help review this one please? |
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yeah, happy to view! |
ooctipus
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Jun 24, 2025
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Thanks for submitting the pull request, I have run few test locally and they seems to be well behaving. LGTM
harry-wf-cheung
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Jul 30, 2025
# Description This PR adds `NoiseModel` support for manager-based workflows. To achieve this, I have: - Added `NoiseModel` lifecycle management to `ObservationManager`. - Added a `Callable` field, `func`, to `NoiseModelCfg`, which `ObservationManager` uses to assign the class instance within, similar to how it is done for `ModifierBase`. - Renamed `apply()` to be `__call()__`, to be consistent with function-based noises and `ModifierBase`. Fixes isaac-sim#2715 and isaac-sim#1864. Note: I left the changelog with the entry [Unreleased] until the PR is given the green light. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## 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 - [ ] 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
This PR adds
NoiseModelsupport for manager-based workflows. To achieve this, I have:NoiseModellifecycle management toObservationManager.Callablefield,func, toNoiseModelCfg, whichObservationManageruses to assign the class instance within, similar to how it is done forModifierBase.apply()to be__call()__, to be consistent with function-based noises andModifierBase.Fixes #2715 and #1864.
Note: I left the changelog with the entry [Unreleased] until the PR is given the green light.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there