Fixes drift initialization in RayCasterCamera class (#249)

This MR fixes a bug in `RaycasterCamera` where the drift was not being
initialized correctly.

- Bug fix (non-breaking change which fixes an issue)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.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
- [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

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.47"
+version = "0.9.48"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.9.48 (2023-11-24)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed initialization of drift in the :class:`omni.isaac.orbit.sensors.RayCasterCamera` class.
+
+
 0.9.47 (2023-11-24)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/observations.py

@@ -19,7 +19,7 @@
 from omni.isaac.orbit.sensors import RayCaster
 
 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs import BaseEnv
+    from omni.isaac.orbit.envs import BaseEnv, RLTaskEnv
 
 """
 Root state.
@@ -94,6 +94,6 @@ def last_action(env: BaseEnv) -> torch.Tensor:
 """
 
 
-def generated_commands(env: BaseEnv) -> torch.Tensor:
+def generated_commands(env: RLTaskEnv) -> torch.Tensor:
     """The generated command from the command generator."""
     return env.command_manager.command

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py

@@ -75,8 +75,10 @@ def __init__(self, cfg: CameraCfg):
 
         Raises:
             RuntimeError: If no camera prim is found at the given path.
-            ValueError: If the sensor types intersect with in the unsupported list.
+            ValueError: If the provided data types are not supported by the camera.
         """
+        # perform check on supported data types
+        self._check_supported_data_types(cfg)
         # initialize base class
         super().__init__(cfg)
 
@@ -99,17 +101,6 @@ def __init__(self, cfg: CameraCfg):
         self._sensor_prims: list[UsdGeom.Camera] = list()
         # Create empty variables for storing output data
         self._data = CameraData()
-        # check if there is any intersection in unsupported types
-        # reason: these use np structured data types which we can't yet convert to torch tensor
-        common_elements = set(self.cfg.data_types) & Camera.UNSUPPORTED_TYPES
-        if common_elements:
-            raise ValueError(
-                f"Camera class does not support the following sensor types: {common_elements}."
-                "\n\tThis is because these sensor types output numpy structured data types which"
-                "can't be converted to torch tensors easily."
-                "\n\tHint: If you need to work with these sensor types, we recommend using the single camera"
-                " implementation from the omni.isaac.orbit.compat.camera module."
-            )
 
     def __del__(self):
         """Unsubscribes from callbacks and detach from the replicator registry."""
@@ -431,6 +422,20 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
     Private Helpers
     """
 
+    def _check_supported_data_types(self, cfg: CameraCfg):
+        """Checks if the data types are supported by the ray-caster camera."""
+        # check if there is any intersection in unsupported types
+        # reason: these use np structured data types which we can't yet convert to torch tensor
+        common_elements = set(cfg.data_types) & Camera.UNSUPPORTED_TYPES
+        if common_elements:
+            raise ValueError(
+                f"Camera class does not support the following sensor types: {common_elements}."
+                "\n\tThis is because these sensor types output numpy structured data types which"
+                "can't be converted to torch tensors easily."
+                "\n\tHint: If you need to work with these sensor types, we recommend using the single camera"
+                " implementation from the omni.isaac.orbit.compat.camera module."
+            )
+
     def _create_buffers(self):
         """Create buffers for storing data."""
         # create the data object

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

@@ -64,23 +64,17 @@ def __init__(self, cfg: RayCasterCameraCfg):
 
         Args:
             cfg: The configuration parameters.
+
+        Raises:
+            ValueError: If the provided data types are not supported by the ray-caster camera.
         """
+        # perform check on supported data types
+        self._check_supported_data_types(cfg)
         # initialize base class
         super().__init__(cfg)
-        # Create empty variables for storing output data
+        # create empty variables for storing output data
         self._data = CameraData()
 
-        # check if there is any intersection in unsupported types
-        # reason: we cannot obtain this data from simplified warp-based ray caster
-        common_elements = set(self.cfg.data_types) & RayCasterCamera.UNSUPPORTED_TYPES
-        if common_elements:
-            raise ValueError(
-                f"RayCasterCamera class does not support the following sensor types: {common_elements}."
-                "\n\tThis is because these sensor types cannot be obtained in a fast way using ''warp''."
-                "\n\tHint: If you need to work with these sensor types, we recommend using the USD camera"
-                " interface from the omni.isaac.orbit.sensors.camera module."
-            )
-
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
         return (
@@ -305,8 +299,23 @@ def _debug_vis_callback(self, event):
     Private Helpers
     """
 
+    def _check_supported_data_types(self, cfg: RayCasterCameraCfg):
+        """Checks if the data types are supported by the ray-caster camera."""
+        # check if there is any intersection in unsupported types
+        # reason: we cannot obtain this data from simplified warp-based ray caster
+        common_elements = set(cfg.data_types) & RayCasterCamera.UNSUPPORTED_TYPES
+        if common_elements:
+            raise ValueError(
+                f"RayCasterCamera class does not support the following sensor types: {common_elements}."
+                "\n\tThis is because these sensor types cannot be obtained in a fast way using ''warp''."
+                "\n\tHint: If you need to work with these sensor types, we recommend using the USD camera"
+                " interface from the omni.isaac.orbit.sensors.camera module."
+            )
+
     def _create_buffers(self):
         """Create buffers for storing data."""
+        # prepare drift
+        self.drift = torch.zeros(self._view.count, 3, device=self.device)
         # create the data object
         # -- pose of the cameras
         self._data.pos_w = torch.zeros((self._view.count, 3), device=self._device)

source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py

@@ -24,8 +24,8 @@
 import unittest
 
 import carb
-import omni.isaac.core.utils.stage as stage_utils
 import omni.isaac.core.utils.prims as prim_utils
+import omni.isaac.core.utils.stage as stage_utils
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import RigidObject, RigidObjectCfg