Fixes error in Articulation where default_joint_stiffness and default…

…_joint_damping is not correctly set if actuator is instance of ImplicitActuator
isaac-sim · Dec 25, 2024 · 9e26737 · 9e26737
1 parent dd044a4
commit 9e26737
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Showing 3 changed files with 15 additions and 4 deletions.
diff --git 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
@@ -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
@@ -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())