Fixes orientation resampling logic in reset_root_state_uniform event #486
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added 4 commits
June 11, 2024 20:14
…ntation, after: orientation = current_orientation + input_orientation
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@zoctipus, thanks a lot! |
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Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Dhoeller19
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Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Dhoeller19
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Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Dhoeller19
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Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
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…ac-sim#486) # Description Cluster workflow did not work with the different profiles and introduced names. This PR fixes the workflow and in addition, introduces additional checks that the profile can be selected. In detail: - checks whether a profile can be selected depending on whether a `.env.$container_profile` exists - allows for `job` to have multiple arguments, also without a profile, for all other options, the second argument has to be the profile - check if a docker image exists before building the singularity image - check if the path for the singularity image exists on the cluster, otherwise create it - check if the path for orbit exists on the cluster, otherwise create it ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.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 - [ ] I have run all the tests with `./orbit.sh --test` and they pass - [ ] 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 --------- Co-authored-by: Leul Tesfaye <lst26@cornell.edu> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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…saac-sim#486) The event reset_root_state_uniform had two different logics for setting position and orientation: ``` positions = root_states[:, 0:3] + env.scene.env_origins[env_ids] + rand_samples[:, 0:3] orientations = math_utils.quat_from_euler_xyz(rand_samples[:, 3], rand_samples[:, 4], rand_samples[:, 5]) ``` where the position is set by adding the random samples to the default root states, but the orientation was set as an absolute value. Both orientation and position are now relative offsets. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have run all the tests with `./isaaclab.sh --test` and they pass - [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
iamdrfly
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Nov 21, 2024
…ac-sim#486) # Description Cluster workflow did not work with the different profiles and introduced names. This PR fixes the workflow and in addition, introduces additional checks that the profile can be selected. In detail: - checks whether a profile can be selected depending on whether a `.env.$container_profile` exists - allows for `job` to have multiple arguments, also without a profile, for all other options, the second argument has to be the profile - check if a docker image exists before building the singularity image - check if the path for the singularity image exists on the cluster, otherwise create it - check if the path for orbit exists on the cluster, otherwise create it ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.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 - [ ] I have run all the tests with `./orbit.sh --test` and they pass - [ ] 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 --------- Co-authored-by: Leul Tesfaye <lst26@cornell.edu> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
iamdrfly
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Nov 21, 2024
…saac-sim#486) The event reset_root_state_uniform had two different logics for setting position and orientation: ``` positions = root_states[:, 0:3] + env.scene.env_origins[env_ids] + rand_samples[:, 0:3] orientations = math_utils.quat_from_euler_xyz(rand_samples[:, 3], rand_samples[:, 4], rand_samples[:, 5]) ``` where the position is set by adding the random samples to the default root states, but the orientation was set as an absolute value. Both orientation and position are now relative offsets. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have run all the tests with `./isaaclab.sh --test` and they pass - [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
fix 1:
original reset_root_state_uniform has bugs of two different logic for setting position and orientation:
where the position is set by adding input sample to the root states, but the orientation is set by input sample. User must be aware that the position range input is a relative value, while the orientation range input is absolute value
new reset_root_state_uniform made sure both position and orientation are relative:
fix 2:
rename a comment that referenced omni.isaac.orbit to omni.isaac.lab in articulation module
Fixes # (issue)
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Checklist
pre-commitchecks with./isaaclab.sh --format./isaaclab.sh --testand they passconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there