Fixes docstrings in Articulation Data that report wrong return dimension #1652
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…_joint_damping is not correctly set if actuator is instance of ImplicitActuator
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
…n in center of mass body properties
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…ion (isaac-sim#1652) # Description Fixes docstring in Articulation data, where rigid body properties should be of dimension (num_instances, num_bodies, x) instead of (num_instances, 1, x). Fixes isaac-sim#1651 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change docstring fix. - Bug fix (non-breaking change which fixes an issue) **Before Change** for the data ''' body_link_pos_w body_link_quat_w body_link_vel_w body_link_lin_vel_w body_link_ang_vel_w body_com_pos_w body_com_quat_w body_com_vel_w body_com_lin_vel_w body_com_ang_vel_w ''' The actual dimension are (num_instances, num_bodies, x), but the docstring says (num_instances, 1, x) **After Change** docstring says (num_instances, num_bodies, x) ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
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Description
Fixes docstring in Articulation data, where rigid body properties should be of dimension (num_instances, num_bodies, x) instead of (num_instances, 1, x).
Fixes #1651
Type of change
docstring fix.
Before Change
for the data
'''
body_link_pos_w
body_link_quat_w
body_link_vel_w
body_link_lin_vel_w
body_link_ang_vel_w
body_com_pos_w
body_com_quat_w
body_com_vel_w
body_com_lin_vel_w
body_com_ang_vel_w
'''
The actual dimension are (num_instances, num_bodies, x),
but the docstring says (num_instances, 1, x)
After Change
docstring says (num_instances, num_bodies, x)
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there