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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zoctipus
requested review from
jsmith-bdai,
Dhoeller19,
kellyguo11,
Mayankm96 and
jtigue-bdai
as code owners
kellyguo11
reviewed
Dec 25, 2024
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what is the reason for this addition?
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sorry I pushed my code to wrong branch for this!
| # 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 actuators (not written the sim) |
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could you also update the comment here since it also applies to implicit actuators now?
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I just updated the comment! Thanks for reviewing
…_joint_damping is not correctly set if actuator is instance of ImplicitActuator
jtigue-bdai
approved these changes
Jan 2, 2025
Co-authored-by: James Tigue <[email protected]> Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
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Description
Before the fix, the field, default_joint_stiffness, and default_joint_damping in omni.isaac.lab.assets.Articulation will be
the default value configured Joint Drive property in usd file, and defining a new value with actuator config will not have effect
if the actuator is type ImplicitActuator
after the fix, all actuator types will be able to override default_joint_stiffness and default_joint_damping
Fixes #1552
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there