Fixes minor bugs in RayCasterCamera and BaseEnvWindow (#1308)

# Description

* Fixes a bug in RayCasterCamera's print function that was accessing
`RayCaster.meshes` instead of `self.meshes`
* Fixes a bug in BaseEnvWindow that was trying to access attributes from
undefined configs when building UI elements for action and command terms


## 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
- [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: kellyguo11

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.27.5"
+version = "0.27.6"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.27.6 (2024-10-25)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed usage of ``meshes`` property in :class:`omni.isaac.lab.sensors.RayCasterCamera` to use ``self.meshes`` instead of the undefined ``RayCaster.meshes``.
+* Fixed issue in :class:`omni.isaac.lab.envs.ui.BaseEnvWindow` where undefined configs were being accessed when creating debug visualization elements in UI.
+
+
 0.27.5 (2024-10-25)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py

@@ -382,7 +382,7 @@ def _create_debug_vis_ui_element(self, name: str, elem: object):
             self.ui_window_elements[f"{name}_cb"] = SimpleCheckBox(
                 model=omni.ui.SimpleBoolModel(),
                 enabled=elem.has_debug_vis_implementation,
-                checked=elem.cfg.debug_vis,
+                checked=elem.cfg.debug_vis if elem.cfg else False,
                 on_checked_fn=lambda value, e=weakref.proxy(elem): e.set_debug_vis(value),
             )
             omni.isaac.ui.ui_utils.add_line_rect_flourish()

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py

@@ -87,7 +87,7 @@ def __str__(self) -> str:
             f"Ray-Caster-Camera @ '{self.cfg.prim_path}': \n"
             f"\tview type            : {self._view.__class__}\n"
             f"\tupdate period (s)    : {self.cfg.update_period}\n"
-            f"\tnumber of meshes     : {len(RayCaster.meshes)}\n"
+            f"\tnumber of meshes     : {len(self.meshes)}\n"
             f"\tnumber of sensors    : {self._view.count}\n"
             f"\tnumber of rays/sensor: {self.num_rays}\n"
             f"\ttotal number of rays : {self.num_rays * self._view.count}\n"

source/extensions/omni.isaac.lab/test/envs/test_manager_based_rl_env_ui.py

@@ -0,0 +1,104 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# ignore private usage of variables warning
+# pyright: reportPrivateUsage=none
+
+from __future__ import annotations
+
+"""Launch Isaac Sim Simulator first."""
+
+from omni.isaac.lab.app import AppLauncher, run_tests
+
+# Can set this to False to see the GUI for debugging
+HEADLESS = True
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=HEADLESS, enable_cameras=True)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import unittest
+
+import carb
+import omni.usd
+from omni.isaac.core.utils.extensions import enable_extension
+
+from omni.isaac.lab.envs import ManagerBasedRLEnv, ManagerBasedRLEnvCfg
+from omni.isaac.lab.envs.ui import ManagerBasedRLEnvWindow
+from omni.isaac.lab.scene import InteractiveSceneCfg
+from omni.isaac.lab.utils import configclass
+
+enable_extension("omni.isaac.ui")
+
+
+@configclass
+class EmptyManagerCfg:
+    """Empty manager specifications for the environment."""
+
+    pass
+
+
+@configclass
+class EmptySceneCfg(InteractiveSceneCfg):
+    """Configuration for an empty scene."""
+
+    pass
+
+
+def get_empty_base_env_cfg(device: str = "cuda:0", num_envs: int = 1, env_spacing: float = 1.0):
+    """Generate base environment config based on device"""
+
+    @configclass
+    class EmptyEnvCfg(ManagerBasedRLEnvCfg):
+        """Configuration for the empty test environment."""
+
+        # Scene settings
+        scene: EmptySceneCfg = EmptySceneCfg(num_envs=num_envs, env_spacing=env_spacing)
+        # Basic settings
+        actions: EmptyManagerCfg = EmptyManagerCfg()
+        observations: EmptyManagerCfg = EmptyManagerCfg()
+        rewards: EmptyManagerCfg = EmptyManagerCfg()
+        terminations: EmptyManagerCfg = EmptyManagerCfg()
+        # Define window
+        ui_window_class_type: ManagerBasedRLEnvWindow = ManagerBasedRLEnvWindow
+
+        def __post_init__(self):
+            """Post initialization."""
+            # step settings
+            self.decimation = 4  # env step every 4 sim steps: 200Hz / 4 = 50Hz
+            # simulation settings
+            self.sim.dt = 0.005  # sim step every 5ms: 200Hz
+            self.sim.render_interval = self.decimation  # render every 4 sim steps
+            # pass device down from test
+            self.sim.device = device
+            # episode length
+            self.episode_length_s = 5.0
+
+    return EmptyEnvCfg()
+
+
+class TestManagerBasedRLEnvUI(unittest.TestCase):
+    """Test for manager-based RL env class UI"""
+
+    """
+    Tests
+    """
+
+    def test_ui_window(self):
+        device = "cuda:0"
+        # override sim setting to enable UI
+        carb.settings.get_settings().set_bool("/app/window/enabled", True)
+        # create a new stage
+        omni.usd.get_context().new_stage()
+        # create environment
+        env = ManagerBasedRLEnv(cfg=get_empty_base_env_cfg(device=device))
+        # close the environment
+        env.close()
+
+
+if __name__ == "__main__":
+    run_tests()

source/extensions/omni.isaac.lab/test/sensors/test_camera.py

@@ -719,6 +719,15 @@ def test_throughput(self):
             for im_data in camera.data.output.values():
                 self.assertEqual(im_data.shape, (1, camera_cfg.height, camera_cfg.width, 1))
 
+    def test_sensor_print(self):
+        """Test sensor print is working correctly."""
+        # Create sensor
+        sensor = Camera(cfg=self.camera_cfg)
+        # Play sim
+        self.sim.reset()
+        # print info
+        print(sensor)
+
     """
     Helper functions.
     """

source/extensions/omni.isaac.lab/test/sensors/test_contact_sensor.py

@@ -294,6 +294,27 @@ def test_cube_stack_contact_filtering(self):
                             contact_sensor_2.data.force_matrix_w[:, :, 0], contact_sensor.data.force_matrix_w[:, :, 0]
                         )
 
+    def test_sensor_print(self):
+        """Test sensor print is working correctly."""
+        with build_simulation_context(device="cuda:0", dt=self.sim_dt, add_lighting=False) as sim:
+            # Spawn things into stage
+            scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=False)
+            scene_cfg.terrain = FLAT_TERRAIN_CFG.replace(prim_path="/World/ground")
+            scene_cfg.shape = CUBE_CFG
+            scene_cfg.contact_sensor = ContactSensorCfg(
+                prim_path=scene_cfg.shape.prim_path,
+                track_pose=True,
+                debug_vis=False,
+                update_period=0.0,
+                track_air_time=True,
+                history_length=3,
+            )
+            scene = InteractiveScene(scene_cfg)
+            # Play the simulator
+            sim.reset()
+            # print info
+            print(scene.sensors["contact_sensor"])
+
     """
     Internal helpers.
     """

source/extensions/omni.isaac.lab/test/sensors/test_frame_transformer.py

@@ -579,6 +579,25 @@ def test_frame_transformer_all_bodies(self):
                 torch.testing.assert_close(bodies_pos_source_tf[:, index], body_pos_b)
                 torch.testing.assert_close(bodies_quat_source_tf[:, index], body_quat_b)
 
+    def test_sensor_print(self):
+        """Test sensor print is working correctly."""
+        # Spawn things into stage
+        scene_cfg = MySceneCfg(num_envs=2, env_spacing=5.0, lazy_sensor_update=False)
+        scene_cfg.frame_transformer = FrameTransformerCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/base",
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/.*",
+                ),
+            ],
+        )
+        scene = InteractiveScene(scene_cfg)
+
+        # Play the simulator
+        self.sim.reset()
+        # print info
+        print(scene.sensors["frame_transformer"])
+
 
 if __name__ == "__main__":
     run_tests()

source/extensions/omni.isaac.lab/test/sensors/test_imu.py

@@ -498,34 +498,40 @@ def test_offset_calculation(self):
                 atol=1e-4,
             )
 
+    def test_env_ids_propogation(self):
+        """Test that env_ids argument propagates through update and reset methods"""
+        self.scene.reset()
 
-def test_env_ids_propogation(self):
-    """Test that env_ids argument propagates through update and reset methods"""
-    self.scene.reset()
-
-    for idx in range(10):
-        # set acceleration
-        self.scene.articulations["robot"].write_root_velocity_to_sim(
-            torch.tensor([[0.5, 0.0, 0.0, 0.0, 0.0, 0.0]], dtype=torch.float32, device=self.scene.device).repeat(
-                self.scene.num_envs, 1
+        for idx in range(10):
+            # set acceleration
+            self.scene.articulations["robot"].write_root_velocity_to_sim(
+                torch.tensor([[0.5, 0.0, 0.0, 0.0, 0.0, 0.0]], dtype=torch.float32, device=self.scene.device).repeat(
+                    self.scene.num_envs, 1
+                )
+                * (idx + 1)
             )
-            * (idx + 1)
-        )
-        # write data to sim
-        self.scene.write_data_to_sim()
+            # write data to sim
+            self.scene.write_data_to_sim()
+            # perform step
+            self.sim.step()
+            # read data from sim
+            self.scene.update(self.sim.get_physics_dt())
+
+        # reset scene for env 1
+        self.scene.reset(env_ids=[1])
+        # read data from sim
+        self.scene.update(self.sim.get_physics_dt())
         # perform step
         self.sim.step()
         # read data from sim
         self.scene.update(self.sim.get_physics_dt())
 
-    # reset scene for env 1
-    self.scene.reset(env_ids=[1])
-    # read data from sim
-    self.scene.update(self.sim.get_physics_dt())
-    # perform step
-    self.sim.step()
-    # read data from sim
-    self.scene.update(self.sim.get_physics_dt())
+    def test_sensor_print(self):
+        """Test sensor print is working correctly."""
+        # Create sensor
+        sensor = self.scene.sensors["imu_ball"]
+        # print info
+        print(sensor)
 
 
 if __name__ == "__main__":

source/extensions/omni.isaac.lab/test/sensors/test_ray_caster_camera.py

@@ -817,6 +817,15 @@ def test_output_equal_to_usd_camera_when_intrinsics_set(self):
             atol=1e-4,
         )
 
+    def test_sensor_print(self):
+        """Test sensor print is working correctly."""
+        # Create sensor
+        sensor = RayCasterCamera(cfg=self.camera_cfg)
+        # Play sim
+        self.sim.reset()
+        # print info
+        print(sensor)
+
 
 if __name__ == "__main__":
     run_tests()