Fixes issue where the indices were not created correctly. #1660
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I'll update the test function for the articulation to catch this error. It's only checking when no indices are passed, and that's why it wasn't caught in the tests. |
Thanks for catching this. |
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Thanks a lot for catching this and adding a fix for it! Look forward to the unit test addition, please add it to the same PR here. |
…n to catch errors when indexes are passed but not assigned properly.
jtigue-bdai
approved these changes
Jan 13, 2025
kellyguo11
reviewed
Jan 13, 2025
| @@ -385,11 +385,14 @@ def write_root_com_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence[ | |||
| env_ids: Environment indices. If None, then all indices are used. | |||
| """ | |||
| # resolve all indices | |||
| physx_env_ids = env_ids | |||
| if env_ids is None: | |||
| local_env_ids = slice(None) | |||
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This is generating an unused variable warning, we should be able to remove this. Please also run the formatter ./isaaclab.sh -f to verify.
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Ha, yes sorry. It's fixed now.
jtigue-bdai
reviewed
Jan 13, 2025
| @@ -399,7 +402,7 @@ def write_root_com_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence[ | |||
| ) | |||
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| root_link_pose = torch.cat((root_link_pos, root_link_quat), dim=-1) | |||
| self.write_root_link_pose_to_sim(root_pose=root_link_pose, env_ids=env_ids) | |||
| self.write_root_link_pose_to_sim(root_pose=root_link_pose, env_ids=physx_env_ids) | |||
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@kellyguo11 but that variable is used here?
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Nevermind I mis-read the line the previous comment was pointing to.
…ntoineRichard/IsaacLab into fix_articulation_com_link_env_id_issue
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…1660) # Description This PR fixes an issue in articulation object from omni.isaac.lab. The functions `write_root_com_pose_to_sim` and `write_root_link_to_sim` both result in an error where a variable is called before being assigned. I checked and there is a test for this, but I'm not sure why they don't catch it... The two functions have been changed to match the behaviors of `write_root_link_pose_to_sim` and `write_root_com_velocity_to_sim`. Fixes isaac-sim#1659 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
hapatel-bdai
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Jan 21, 2025
# Description This PR fixes an issue in articulation object from omni.isaac.lab. The functions `write_root_com_pose_to_sim` and `write_root_link_to_sim` both result in an error where a variable is called before being assigned. I checked and there is a test for this, but I'm not sure why they don't catch it... The two functions have been changed to match the behaviors of `write_root_link_pose_to_sim` and `write_root_com_velocity_to_sim`. Fixes #1659 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
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Description
This PR fixes an issue in articulation object from omni.isaac.lab. The functions
write_root_com_pose_to_simandwrite_root_link_to_simboth result in an error where a variable is called before being assigned. I checked and there is a test for this, but I'm not sure why they don't catch it...The two functions have been changed to match the behaviors of
write_root_link_pose_to_simandwrite_root_com_velocity_to_sim.Fixes #1659
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there