Updates minor RSL-RL configclass docstring by ClemensSchwarke · Pull Request #4909 · isaac-sim/IsaacLab

ClemensSchwarke · 2026-03-10T12:36:34Z

Just a few docstring changes for consistency. Low priority and low risk.

Type of change

Documentation update

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings

greptile-apps · 2026-03-10T12:38:15Z

Greptile Summary

This PR makes minor docstring consistency updates across four RSL-RL configuration files, standardizing the phrasing from "Default is X" to "Defaults to X" throughout. It also adds previously missing docstrings to the mode fields of LinearWeightScheduleCfg and StepWeightScheduleCfg in rnd_cfg.py.

Key changes:

distillation_cfg.py: Updated 6 docstrings for consistency; added default value note to max_grad_norm (minor missing period noted).
rl_cfg.py: Updated ~20 docstrings across RslRlMLPModelCfg, RslRlCNNModelCfg, RslRlPpoAlgorithmCfg, RslRlBaseRunnerCfg, and related classes.
rnd_cfg.py: Updated docstrings and added two new mode field docstrings to sub-configs.
symmetry_cfg.py: Updated 3 docstrings for consistency.

Confidence Score: 5/5

This PR is safe to merge — it contains only docstring changes with no functional impact.
All changes are purely documentation/docstring updates with zero impact on runtime behavior. The only finding is a trivial missing period in one docstring.
No files require special attention beyond the minor missing period in distillation_cfg.py line 37.

Important Files Changed

Filename	Overview
source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py	Docstrings updated from "Default is X" to "Defaults to X" for consistency; minor issue: missing trailing period on line 37 for `max_grad_norm`.
source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py	Docstrings updated from "Default is X" to "Defaults to X" for consistency across all config fields; changes are clean and correct.
source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py	Docstrings updated from "Default is X" to "Defaults to X"; also adds previously missing docstrings to `mode` fields in `LinearWeightScheduleCfg` and `StepWeightScheduleCfg`.
source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py	Docstrings updated from "Default is X" to "Defaults to X" for three fields; changes are clean and correct.

Class Diagram

%%{init: {'theme': 'neutral'}}%%
classDiagram
    class RslRlBaseRunnerCfg {
        +seed: int = 42
        +device: str = "cuda:0"
        +run_name: str = ""
        +logger: str = "tensorboard"
        +resume: bool = False
    }
    class RslRlOnPolicyRunnerCfg {
        +class_name: str = "OnPolicyRunner"
    }
    class RslRlDistillationRunnerCfg {
        +class_name: str = "DistillationRunner"
    }
    class RslRlMLPModelCfg {
        +class_name: str = "MLPModel"
        +obs_normalization: bool = False
        +noise_std_type: str = "scalar"
    }
    class RslRlRNNModelCfg {
        +class_name: str = "RNNModel"
    }
    class RslRlCNNModelCfg {
        +class_name: str = "CNNModel"
    }
    class RslRlPpoAlgorithmCfg {
        +class_name: str = "PPO"
        +optimizer: str = "adam"
        +rnd_cfg: RslRlRndCfg = None
        +symmetry_cfg: RslRlSymmetryCfg = None
    }
    class RslRlRndCfg {
        +weight: float = 0.0
        +weight_schedule: WeightScheduleCfg = None
    }
    class RslRlSymmetryCfg {
        +use_data_augmentation: bool = False
        +use_mirror_loss: bool = False
        +mirror_loss_coeff: float = 0.0
    }

    RslRlBaseRunnerCfg <|-- RslRlOnPolicyRunnerCfg
    RslRlBaseRunnerCfg <|-- RslRlDistillationRunnerCfg
    RslRlMLPModelCfg <|-- RslRlRNNModelCfg
    RslRlMLPModelCfg <|-- RslRlCNNModelCfg
    RslRlPpoAlgorithmCfg --> RslRlRndCfg
    RslRlPpoAlgorithmCfg --> RslRlSymmetryCfg

_{Last reviewed commit: 341ce3a}

Just a few docstring changes for consistency. Low priority and low risk. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings

) # Description * [Adds Isaac-Stack-Cube-Franka-IK-Rel-v0 task variants with varying stack orders](#4875) * [Updates minor RSL-RL configclass docstring](#4909) ## Type of change  - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] 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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: nv-caelan <cgarrett@nvidia.com> Co-authored-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com>

Just a few docstring changes for consistency. Low priority and low risk. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings

…aac-sim#4935) # Description * [Adds Isaac-Stack-Cube-Franka-IK-Rel-v0 task variants with varying stack orders](isaac-sim#4875) * [Updates minor RSL-RL configclass docstring](isaac-sim#4909) ## Type of change  - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] 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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: nv-caelan <cgarrett@nvidia.com> Co-authored-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com>

# Description Merge changes from main branch: - #4875 - Adds Isaac-Stack-Cube-Franka-IK-Rel-v0 task variants - #4909 - Updates minor RSL-RL configclass docstring - #4934 - Updates Newton docs on main for 3.0 beta changes - #5182 - Fix flatdict version pin to allow 4.1.0+ - #5195 - Add NCCL troubleshooting notes - #5406 - Updates doc building job on main to match develop - #5311 - Update skrl integration for version 2.0.0 - #5482 - Adds nightly-changelog.yml on main - #5527 - Use isaaclab-bot GitHub App token for nightly changelog push - #5537 - Address deprecation warnings in nightly changelog workflow - #5746 - Fix .dockerignore for _isaac_sim symlink - #5745 - Parameterize nightly compile over configurable branches - #5546 - Fix swapped preserve_order docstrings - #5817 - Update skrl agent configurations in the Isaac Lab template

# Description Merge changes from main branch: - isaac-sim#4875 - Adds Isaac-Stack-Cube-Franka-IK-Rel-v0 task variants - isaac-sim#4909 - Updates minor RSL-RL configclass docstring - isaac-sim#4934 - Updates Newton docs on main for 3.0 beta changes - isaac-sim#5182 - Fix flatdict version pin to allow 4.1.0+ - isaac-sim#5195 - Add NCCL troubleshooting notes - isaac-sim#5406 - Updates doc building job on main to match develop - isaac-sim#5311 - Update skrl integration for version 2.0.0 - isaac-sim#5482 - Adds nightly-changelog.yml on main - isaac-sim#5527 - Use isaaclab-bot GitHub App token for nightly changelog push - isaac-sim#5537 - Address deprecation warnings in nightly changelog workflow - isaac-sim#5746 - Fix .dockerignore for _isaac_sim symlink - isaac-sim#5745 - Parameterize nightly compile over configurable branches - isaac-sim#5546 - Fix swapped preserve_order docstrings - isaac-sim#5817 - Update skrl agent configurations in the Isaac Lab template

fix docstrings

341ce3a

ClemensSchwarke requested a review from Mayankm96 as a code owner March 10, 2026 12:36

github-actions Bot added bug Something isn't working isaac-lab Related to Isaac Lab team labels Mar 10, 2026

ClemensSchwarke added isaac-lab Related to Isaac Lab team and removed bug Something isn't working isaac-lab Related to Isaac Lab team labels Mar 10, 2026

greptile-apps Bot reviewed Mar 10, 2026

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Comment thread source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py Outdated

add dot

a4e9f8a

github-actions Bot added the bug Something isn't working label Mar 10, 2026

ClemensSchwarke removed the bug Something isn't working label Mar 10, 2026

kellyguo11 approved these changes Mar 10, 2026

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kellyguo11 changed the title ~~Minor RSL-RL configclass docstring updates~~ Updates minor RSL-RL configclass docstring Mar 10, 2026

kellyguo11 merged commit 2b78d92 into isaac-sim:main Mar 10, 2026
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kellyguo11 mentioned this pull request Mar 10, 2026

Merge branch 'main' of github.com:isaac-sim/IsaacLab into develop #4935

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kellyguo11 mentioned this pull request May 28, 2026

Merges changes from main #5824

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Updates minor RSL-RL configclass docstring#4909

Updates minor RSL-RL configclass docstring#4909
kellyguo11 merged 2 commits into
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ClemensSchwarke:fix/rsl_rl_cfg_docstrings

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ClemensSchwarke commented Mar 10, 2026

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greptile-apps Bot commented Mar 10, 2026

Greptile Summary

Confidence Score: 5/5

Important Files Changed

Class Diagram

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