Fixes error thrown by Warp because of future import

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.34"
+version = "0.9.35"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.9.35 (2023-11-02)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the error: ``'str' object has no attribute '__module__'`` introduced by adding the future import inside the
+  :mod:`omni.isaac.orbit.utils.warp.kernels` module. Warp language does not support the ``__future__`` imports.
+
+
 0.9.34 (2023-11-02)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/kernels.py

@@ -5,8 +5,6 @@
 
 """Custom kernels for warp."""
 
-from __future__ import annotations
-
 import warp as wp
 
 
@@ -36,10 +34,21 @@ def raycast_mesh_kernel(
     operation. The maximum ray-cast distance is set to `1e6` units.
 
     Args:
-        mesh: The input mesh identifier.
-        ray_starts: The input ray start positions. Shape (N, 3).
-        ray_directions: The input ray directions. Shape (N, 3).
-        ray_hits: The output ray hit positions. Shape (N, 3).
+        mesh: The input mesh. The ray-casting is performed against this mesh on the device specified by the
+            `mesh`'s `device` attribute.
+        ray_starts: The input ray start positions. Shape is (N, 3).
+        ray_directions: The input ray directions. Shape is (N, 3).
+        ray_hits: The output ray hit positions. Shape is (N, 3).
+        ray_distance: The output ray hit distances. Shape is (N,), if `return_distance` is True. Otherwise,
+            this array is not used.
+        ray_normal: The output ray hit normals. Shape is (N, 3), if `return_normal` is True. Otherwise,
+            this array is not used.
+        ray_face_id: The output ray hit face ids. Shape is (N,), if `return_face_id` is True. Otherwise,
+            this array is not used.
+        max_dist: The maximum ray-cast distance. Defaults to 1e6.
+        return_distance: Whether to return the ray hit distances. Defaults to False.
+        return_normal: Whether to return the ray hit normals. Defaults to False`.
+        return_face_id: Whether to return the ray hit face ids. Defaults to False.
     """
     # get the thread id
     tid = wp.tid()
@@ -52,7 +61,9 @@ def raycast_mesh_kernel(
     f = int(0)  # hit face index
 
     # ray cast against the mesh and store the hit position
-    if wp.mesh_query_ray(mesh, ray_starts[tid], ray_directions[tid], max_dist, t, u, v, sign, n, f):
+    hit_success = wp.mesh_query_ray(mesh, ray_starts[tid], ray_directions[tid], max_dist, t, u, v, sign, n, f)
+    # if the ray hit, store the hit data
+    if hit_success:
         ray_hits[tid] = ray_starts[tid] + t * ray_directions[tid]
         if return_distance == 1:
             ray_distance[tid] = t