From 9e267375b151939aa7576cf4a87de68afbfaef08 Mon Sep 17 00:00:00 2001 From: Octi Date: Wed, 25 Dec 2024 12:48:15 -0800 Subject: [PATCH 1/4] Fixes error in Articulation where default_joint_stiffness and default_joint_damping is not correctly set if actuator is instance of ImplicitActuator --- .../extensions/omni.isaac.lab/config/extension.toml | 2 +- source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 11 +++++++++++ .../isaac/lab/assets/articulation/articulation.py | 6 +++--- 3 files changed, 15 insertions(+), 4 deletions(-) diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml index d0ce0dae38..d64f5d9f66 100644 --- a/source/extensions/omni.isaac.lab/config/extension.toml +++ b/source/extensions/omni.isaac.lab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.30.1" +version = "0.30.2" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index a96a1c2c04..64d315b599 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -1,6 +1,17 @@ Changelog --------- +0.30.2 (2024-12-22) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Fixed the issue in :class:`omni.isaac.lab.assets.Articulation` where the field +default_joint_stiffness and default_joint_damping are not correctly set if actuator +is instance of ImplicitActuator + + 0.30.1 (2024-12-17) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py index 602a9efaa1..c2641e68fa 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py @@ -1348,9 +1348,9 @@ def _process_actuators_cfg(self): self.write_joint_velocity_limit_to_sim(actuator.velocity_limit, joint_ids=actuator.joint_indices) self.write_joint_armature_to_sim(actuator.armature, joint_ids=actuator.joint_indices) self.write_joint_friction_to_sim(actuator.friction, joint_ids=actuator.joint_indices) - # Store the actual default stiffness and damping values for explicit actuators (not written the sim) - self._data.default_joint_stiffness[:, actuator.joint_indices] = actuator.stiffness - self._data.default_joint_damping[:, actuator.joint_indices] = actuator.damping + # Store the actual default stiffness and damping values for explicit and implicit actuators (not written the sim) + self._data.default_joint_stiffness[:, actuator.joint_indices] = actuator.stiffness + self._data.default_joint_damping[:, actuator.joint_indices] = actuator.damping # perform some sanity checks to ensure actuators are prepared correctly total_act_joints = sum(actuator.num_joints for actuator in self.actuators.values()) From c6cd939bc54ebbe1f8868cd59f1d3d30172a9374 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 2 Jan 2025 16:28:45 -0500 Subject: [PATCH 2/4] Update source/extensions/omni.isaac.lab/docs/CHANGELOG.rst Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: Kelly Guo --- source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index 64d315b599..f9015742d9 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -7,9 +7,8 @@ Changelog Fixed ^^^^^ -* Fixed the issue in :class:`omni.isaac.lab.assets.Articulation` where the field -default_joint_stiffness and default_joint_damping are not correctly set if actuator -is instance of ImplicitActuator +* Fixed populating default_joint_stiffness and default_joint_damping values for ImplicitActuator instances +in :class:`omni.isaac.lab.assets.Articulation` 0.30.1 (2024-12-17) From 36b977d9ce486b5ede6d12be377c23c029ba156b Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 2 Jan 2025 16:30:58 -0500 Subject: [PATCH 3/4] Update CHANGELOG.rst Signed-off-by: Kelly Guo --- source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index f9015742d9..7dc1c6a72b 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -7,8 +7,7 @@ Changelog Fixed ^^^^^ -* Fixed populating default_joint_stiffness and default_joint_damping values for ImplicitActuator instances -in :class:`omni.isaac.lab.assets.Articulation` +* Fixed populating default_joint_stiffness and default_joint_damping values for ImplicitActuator instances in :class:`omni.isaac.lab.assets.Articulation` 0.30.1 (2024-12-17) From 13b8e270383c47ee3e9eca345f7f357aa765064f Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 2 Jan 2025 16:33:29 -0500 Subject: [PATCH 4/4] Update CHANGELOG.rst Signed-off-by: Kelly Guo --- source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index 7dc1c6a72b..c7ca16bdca 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -7,7 +7,7 @@ Changelog Fixed ^^^^^ -* Fixed populating default_joint_stiffness and default_joint_damping values for ImplicitActuator instances in :class:`omni.isaac.lab.assets.Articulation` +* Fixed populating default_joint_stiffness and default_joint_damping values for ImplicitActuator instances in :class:`omni.isaac.lab.assets.Articulation` 0.30.1 (2024-12-17)