Allows configclass to_dict operation to handle a list of configclasses (#1227)

# Description

This PR add in the ability to properly convert configclass to dict if a
configclass instance contains a list of configclasses.

Fixes #1219 

## 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`
- [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

Author: jtigue-bdai

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.27.2"
+version = "0.27.3"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.27.3 (2024-10-22)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the issue with using list or tuples of ``configclass`` within a ``configclass``. Earlier, the list of
+  configclass objects were not converted to dictionary properly when ``to_dict`` function was called.
+
+
 0.27.2 (2024-10-21)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py

@@ -40,8 +40,10 @@ def class_to_dict(obj: object) -> dict[str, Any]:
     # convert object to dictionary
     if isinstance(obj, dict):
         obj_dict = obj
-    else:
+    elif hasattr(obj, "__dict__"):
         obj_dict = obj.__dict__
+    else:
+        return obj
 
     # convert to dictionary
     data = dict()
@@ -55,6 +57,8 @@ def class_to_dict(obj: object) -> dict[str, Any]:
         # check if attribute is a dictionary
         elif hasattr(value, "__dict__") or isinstance(value, dict):
             data[key] = class_to_dict(value)
+        elif isinstance(value, (list, tuple)):
+            data[key] = type(value)([class_to_dict(v) for v in value])
         else:
             data[key] = value
     return data

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

@@ -23,7 +23,7 @@
 from collections.abc import Callable
 from dataclasses import MISSING, asdict, field
 from functools import wraps
-from typing import ClassVar
+from typing import Any, ClassVar
 
 from omni.isaac.lab.utils.configclass import configclass
 from omni.isaac.lab.utils.dict import class_to_dict, dict_to_md5_hash, update_class_from_dict
@@ -85,6 +85,11 @@ def double(x):
     return 2 * x
 
 
+@configclass
+class ModifierCfg:
+    params: dict[str, Any] = {"A": 1, "B": 2}
+
+
 @configclass
 class ViewerCfg:
     eye: list = [7.5, 7.5, 7.5]  # field missing on purpose
@@ -113,6 +118,7 @@ class BasicDemoCfg:
     device_id: int = 0
     env: EnvCfg = EnvCfg()
     robot_default_state: RobotDefaultStateCfg = RobotDefaultStateCfg()
+    list_config = [ModifierCfg(), ModifierCfg(params={"A": 3, "B": 4})]
 
 
 @configclass
@@ -381,6 +387,7 @@ class MissingChildDemoCfg(MissingParentDemoCfg):
         "dof_vel": [0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
     },
     "device_id": 0,
+    "list_config": [{"params": {"A": 1, "B": 2}}, {"params": {"A": 3, "B": 4}}],
 }
 
 basic_demo_cfg_change_correct = {
@@ -392,6 +399,7 @@ class MissingChildDemoCfg(MissingParentDemoCfg):
         "dof_vel": [0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
     },
     "device_id": 0,
+    "list_config": [{"params": {"A": 1, "B": 2}}, {"params": {"A": 3, "B": 4}}],
 }
 
 basic_demo_cfg_change_with_none_correct = {
@@ -403,6 +411,19 @@ class MissingChildDemoCfg(MissingParentDemoCfg):
         "dof_vel": [0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
     },
     "device_id": 0,
+    "list_config": [{"params": {"A": 1, "B": 2}}, {"params": {"A": 3, "B": 4}}],
+}
+
+basic_demo_cfg_change_with_tuple_correct = {
+    "env": {"num_envs": 56, "episode_length": 2000, "viewer": {"eye": [7.5, 7.5, 7.5], "lookat": [0.0, 0.0, 0.0]}},
+    "robot_default_state": {
+        "pos": (0.0, 0.0, 0.0),
+        "rot": (1.0, 0.0, 0.0, 0.0),
+        "dof_pos": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
+        "dof_vel": [0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
+    },
+    "device_id": 0,
+    "list_config": [{"params": {"A": -1, "B": -2}}, {"params": {"A": -3, "B": -4}}],
 }
 
 basic_demo_cfg_nested_dict_and_list = {
@@ -496,7 +517,7 @@ def test_dict_conversion(self):
 
     def test_dict_conversion_order(self):
         """Tests that order is conserved when converting to dictionary."""
-        true_outer_order = ["device_id", "env", "robot_default_state"]
+        true_outer_order = ["device_id", "env", "robot_default_state", "list_config"]
         true_env_order = ["num_envs", "episode_length", "viewer"]
         # create config
         cfg = BasicDemoCfg()
@@ -514,7 +535,7 @@ def test_dict_conversion_order(self):
             self.assertEqual(label, parsed_value)
         # check ordering when copied
         cfg_dict_copied = copy.deepcopy(cfg_dict)
-        cfg_dict_copied.pop("robot_default_state")
+        cfg_dict_copied.pop("list_config")
         # check ordering
         for label, parsed_value in zip(true_outer_order, cfg_dict_copied.keys()):
             self.assertEqual(label, parsed_value)
@@ -551,6 +572,13 @@ def test_config_update_dict_with_none(self):
         update_class_from_dict(cfg, cfg_dict)
         self.assertDictEqual(asdict(cfg), basic_demo_cfg_change_with_none_correct)
 
+    def test_config_update_dict_tuple(self):
+        """Test updating configclass using a dictionary that modifies a tuple."""
+        cfg = BasicDemoCfg()
+        cfg_dict = {"list_config": [{"params": {"A": -1, "B": -2}}, {"params": {"A": -3, "B": -4}}]}
+        update_class_from_dict(cfg, cfg_dict)
+        self.assertDictEqual(asdict(cfg), basic_demo_cfg_change_with_tuple_correct)
+
     def test_config_update_nested_dict(self):
         """Test updating configclass with sub-dictionaries."""
         cfg = NestedDictAndListCfg()