From 9e267375b151939aa7576cf4a87de68afbfaef08 Mon Sep 17 00:00:00 2001
From: Octi <zzyoctopus@gmail.com>
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 <kellyguo123@hotmail.com>
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 <kellyguo123@hotmail.com>
---
 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 <kellyguo123@hotmail.com>
Date: Thu, 2 Jan 2025 16:30:58 -0500
Subject: [PATCH 3/4] Update CHANGELOG.rst

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
---
 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 <kellyguo123@hotmail.com>
Date: Thu, 2 Jan 2025 16:33:29 -0500
Subject: [PATCH 4/4] Update CHANGELOG.rst

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
---
 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)