Adds multirotor vision-based navigation task and acceleration, velocity and position controllers #3895
Conversation
…mdp/commands/__init__.py Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Signed-off-by: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com>
…IsaacLab into feature/drone_multirotor_class
…i-mesh-ray-caster
Signed-off-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com>
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@AntoineRichard @kellyguo11 moved the pt file to nuclues, lets get that PR merged |
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🤖 Isaac Lab Review Bot
Summary
This is a follow-up review after new commits. The previous critical findings have been addressed.
Previous Concerns Status
✅ Addressed: NavigationAction.reset() inverted conditional — now correctly uses if env_ids is None: env_ids = slice(None) after calling parent reset.
✅ Addressed: ImageLatentObservation.__call__ now uses .clone() on the sensor data to avoid mutating the shared buffer.
✅ Addressed: ImageLatentObservation.__init__ now correctly uses bool(cfg.params.get(...)) instead of tuple assignment.
✅ Addressed: lee_attitude_control.py docstring now correctly documents [thrust, roll, pitch, yaw_rate] matching the implementation.
✅ Addressed: lee_attitude_control_cfg.py now includes class_type: type = LeeAttController.
Implementation Verdict
Ship it — All critical bugs have been fixed. The remaining items from the previous review (improvement suggestions about variable naming, hover edge-case guards, and max_inclination_angle_rad being unused in some configs) are minor and don't block merge.
CI Status
Most CI checks still pending. Recommend waiting for isaaclab_contrib and isaaclab_tasks test suites to pass before merge.
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🤖 Isaac Lab Review Bot
Summary
This is a follow-up review. All previous critical concerns have been addressed, and no new issues are introduced in the latest commits.
Previous Concerns Status
✅ All previously identified critical bugs (inverted conditional, missing .clone(), incorrect param parsing, docstring mismatch, missing class_type) have been fixed.
Implementation Verdict
Ship it — The code is correct and ready for merge.
CI Status
CI labeler passed. Recommend confirming isaaclab_contrib and isaaclab_tasks test suites pass before final merge.
There was a problem hiding this comment.
🤖 Isaac Lab Review Bot
Summary
This is a follow-up review. The previous review gave a "Ship it" verdict, and the latest commit (4c0a281) contains no substantive code changes that would alter that assessment.
Implementation Verdict
Ship it — No new issues introduced. The code remains correct and ready for merge.
CI Status
CI labeler passed. All previous concerns remain addressed.
Signed-off-by: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com>
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seeing some doc failures |
Description
This PR extends 3760 by introducing a navigation tasks for the ARL robot. The PR adds a confined cluttered environment, adds acceleration, velocity and position controllers + configs, extends the MDP and RL configs and adds a Variational Auto Encoder to generate image latents for observations. The PR depends on the
MultiMeshRayCasterCameraintroduced in PR 3298 (currently not merged in IsaacLab).Changes
Type of Change
Files changed (high-level summary)
Dependencies
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there