Adds a validity check for configclasses (#1214)

# Description

Added a mechanism to check for the validity of a configclass object.
A configclass object is valid if it contains no MISSING attributes.

## 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`
- [ ] 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: David Hoeller

.github/workflows/docs.yaml

@@ -2,12 +2,29 @@ name: Build & deploy docs
 
 on:
   push:
-  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
+  check-secrets:
+    name: Check secrets
+    runs-on: ubuntu-latest
+    outputs:
+      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
+    steps:
+    - id: trigger-deploy
+      env:
+        REPO_NAME: ${{ secrets.REPO_NAME }}
+        BRANCH_REF: ${{ secrets.BRANCH_REF }}
+      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+      run: echo "defined=true" >> "$GITHUB_OUTPUT"
+
   build-docs:
     name: Build Docs
     runs-on: ubuntu-latest
+    needs: [check-secrets]
 
     steps:
     - name: Checkout code
@@ -24,8 +41,8 @@ jobs:
       run: pip install -r requirements.txt
 
     - name: Check branch docs building
-      if: ${{ github.event_name == 'pull_request' }}
       working-directory: ./docs
+      if: needs.check-secrets.outputs.trigger-deploy != 'true'
       run: make current-docs
 
     - name: Generate multi-version docs
@@ -40,19 +57,6 @@ jobs:
         name: docs-html
         path: ./docs/_build
 
-  check-secrets:
-    name: Check secrets
-    runs-on: ubuntu-latest
-    outputs:
-      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
-    steps:
-    - id: trigger-deploy
-      env:
-        REPO_NAME: ${{ secrets.REPO_NAME }}
-        BRANCH_REF: ${{ secrets.BRANCH_REF }}
-      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
-      run: echo "defined=true" >> "$GITHUB_OUTPUT"
-
   deploy-docs:
     name: Deploy Docs
     runs-on: ubuntu-latest

docs/conf.py

@@ -262,7 +262,7 @@
 
 def skip_member(app, what, name, obj, skip, options):
     # List the names of the functions you want to skip here
-    exclusions = ["from_dict", "to_dict", "replace", "copy", "__post_init__"]
+    exclusions = ["from_dict", "to_dict", "replace", "copy", "validate", "__post_init__"]
     if name in exclusions:
         return True
     return None

docs/source/tutorials/03_envs/create_manager_rl_env.rst

@@ -36,7 +36,7 @@ For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_t
 
    .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
       :language: python
-      :emphasize-lines: 63-68, 124-149, 152-162, 165-169, 187-192
+      :emphasize-lines: 117-141, 144-154, 172-174
       :linenos:
 
 The script for running the environment ``run_cartpole_rl_env.py`` is present in the
@@ -117,13 +117,8 @@ For various goal-conditioned tasks, it is useful to specify the goals or command
 handled through the :class:`managers.CommandManager`. The command manager handles resampling and updating the
 commands at each step. It can also be used to provide the commands as an observation to the agent.
 
-For this simple task, we do not use any commands. This is specified by using a command term with the
-:class:`envs.mdp.NullCommandCfg` configuration. However, you can see an example of command definitions in the
-locomotion or manipulation tasks.
-
-.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
-   :language: python
-   :pyobject: CommandsCfg
+For this simple task, we do not use any commands. Hence, we leave this attribute as its default value, which is None.
+You can see an example of how to define a command manager in the other locomotion or manipulation tasks.
 
 Defining curriculum
 -------------------
@@ -134,11 +129,6 @@ we provide a :class:`managers.CurriculumManager` class that can be used to defin
 
 In this tutorial we don't implement a curriculum for simplicity, but you can see an example of a
 curriculum definition in the other locomotion or manipulation tasks.
-We use a simple pass-through curriculum to define a curriculum manager that does not modify the environment.
-
-.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
-   :language: python
-   :pyobject: CurriculumCfg
 
 Tying it all together
 ---------------------

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.26.0"
+version = "0.27.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,23 @@
 Changelog
 ---------
 
+0.27.0 (2024-10-14)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added a method to :class:`~omni.isaac.lab.utils.configclass` to check for attributes with values of
+  type ``MISSING``. This is useful when the user wants to check if a certain attribute has been set or not.
+* Added the configuration validation check inside the constructor of all the core classes
+  (such as sensor base, asset base, scene and environment base classes).
+* Added support for environments without commands by leaving the attribute
+  :attr:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands` as None. Before, this had to be done using
+  the class :class:`omni.isaac.lab.command_generators.NullCommandGenerator`.
+* Moved the ``meshes`` attribute in the :class:`omni.isaac.lab.sensors.RayCaster` class from class variable to instance variable.
+   This prevents the meshes to overwrite each other.
+
+
 0.26.0 (2024-10-16)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py

@@ -59,6 +59,8 @@ def __init__(self, cfg: AssetBaseCfg):
         Raises:
             RuntimeError: If no prims found at input prim path or prim path expression.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs
         self.cfg = cfg
         # flag for whether the asset is initialized

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py

@@ -39,8 +39,9 @@ class InitialStateCfg:
         Defaults to (1.0, 0.0, 0.0, 0.0).
         """
 
-    class_type: type[AssetBase] = MISSING
-    """The associated asset class.
+    class_type: type[AssetBase] = None
+    """The associated asset class. Defaults to None, which means that the asset will be spawned
+    but cannot be interacted with via the asset class.
 
     The class should inherit from :class:`omni.isaac.lab.assets.asset_base.AssetBase`.
     """

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py

@@ -74,6 +74,8 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
             RuntimeError: If a simulation context already exists. The environment must always create one
                 since it configures the simulation context and controls the simulation.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs to class
         self.cfg = cfg
         # store the render mode

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py

@@ -79,6 +79,8 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
             RuntimeError: If a simulation context already exists. The environment must always create one
                 since it configures the simulation context and controls the simulation.
         """
+        # check that the config is valid
+        cfg.validate()
         # store inputs to class
         self.cfg = cfg
         # store the render mode

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py

@@ -98,7 +98,7 @@ class DirectRLEnvCfg:
     Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` class for more details.
     """
 
-    events: object = None
+    events: object | None = None
     """Event settings. Defaults to None, in which case no events are applied through the event manager.
 
     Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details.