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Fix Batch Solver Review Feedback #579

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Merged
zhx06 merged 2 commits into from
Apr 10, 2026
Merged

Fix Batch Solver Review Feedback #579

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7418f55
address feedback
zhx06 Apr 10, 2026
14804a4
address feedback
zhx06 Apr 10, 2026
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2 changes: 1 addition & 1 deletion isaaclab_arena/assets/object_base.py
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Expand Up @@ -204,7 +204,7 @@ def get_object_pose(self, env: ManagerBasedEnv, is_relative: bool = True) -> tor

Returns:
The pose of the object in each environment. The shape is (num_envs, 7).
The order is (x, y, z, qw, qx, qy, qz).
The order is (x, y, z, qx, qy, qz, qw).
"""
# We require that the asset has been added to the scene under its name.
assert self.name in env.unwrapped.scene.keys(), f"Asset {self.name} not found in scene"
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2 changes: 1 addition & 1 deletion isaaclab_arena/relations/object_placer.py
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Expand Up @@ -78,7 +78,7 @@ def place(
placement (one layout per env).
result_per_env: When True (default), each environment gets a distinct
layout. When False, a single best layout is solved and applied
identically to all environments (useful for deterministic evaluation).
identically to all environments.

Returns:
PlacementResult when a single layout is produced (num_envs=1 or
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2 changes: 1 addition & 1 deletion isaaclab_arena/relations/relations.py
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Expand Up @@ -125,7 +125,7 @@ class NoCollision(Relation):

Note: Loss computation is handled by NoCollisionLossStrategy in relation_loss_strategies.py.

NOTE: RelationSolver._compute_total_loss iterates every relation on every object with no
TODO(zhx06): RelationSolver._compute_total_loss iterates every relation on every object with no
deduplication. If both A.add_relation(NoCollision(B)) and B.add_relation(NoCollision(A))
are present, loss is computed twice. Bidirectional NoCollision can also make the relation
graph cyclic and cause issues when creating the environment. Deduplication and/or
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