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Fixes error in Articulation where default_joint_stiffness and default_joint_damping is not correctly set if actuator is instance of ImplicitActuator #1580

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Fixes error in Articulation where default_joint_stiffness and default_joint_damping is not correctly set if actuator is instance of ImplicitActuator #1580

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2 changes: 1 addition & 1 deletion source/extensions/omni.isaac.lab/config/extension.toml
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Original file line number Diff line number Diff line change
@@ -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"
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11 changes: 11 additions & 0 deletions source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
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@@ -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)
~~~~~~~~~~~~~~~~~~~

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6 changes: 3 additions & 3 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
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Expand Up @@ -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())
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