From 9e267375b151939aa7576cf4a87de68afbfaef08 Mon Sep 17 00:00:00 2001 From: Octi Date: Wed, 25 Dec 2024 12:48:15 -0800 Subject: [PATCH 1/5] 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 Date: Thu, 2 Jan 2025 16:28:45 -0500 Subject: [PATCH 2/5] 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 --- 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 Date: Thu, 2 Jan 2025 16:30:58 -0500 Subject: [PATCH 3/5] Update CHANGELOG.rst Signed-off-by: Kelly Guo --- 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 Date: Thu, 2 Jan 2025 16:33:29 -0500 Subject: [PATCH 4/5] Update CHANGELOG.rst Signed-off-by: Kelly Guo --- 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) From 61f7a7a2d39f251855e6e5c97001eb37e2e4d417 Mon Sep 17 00:00:00 2001 From: Octi Date: Wed, 8 Jan 2025 21:45:22 -0800 Subject: [PATCH 5/5] Fix the articulation data docstring reporting wrong num_body dimension in center of mass body properties --- .../omni.isaac.lab/config/extension.toml | 2 +- .../omni.isaac.lab/docs/CHANGELOG.rst | 10 ++++++++++ .../assets/articulation/articulation_data.py | 20 +++++++++---------- 3 files changed, 21 insertions(+), 11 deletions(-) diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml index d64f5d9f66..f654f4e0c7 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 = "0.30.2" +version = "0.30.4" # 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 c7ca16bdca..3ec4432182 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -1,6 +1,16 @@ Changelog --------- +0.30.4 (2025-01-08) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* fixed docstring in articulation data :class:`omni.isaac.lab.assets.ArticulationData`. + In body properties sections, the second dimension should be num_bodies but was documented as 1 . + + 0.30.2 (2024-12-22) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py index f05084d98e..1ce4bcc367 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py @@ -747,7 +747,7 @@ def body_ang_acc_w(self) -> torch.Tensor: @property def body_link_pos_w(self) -> torch.Tensor: - """Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3). + """Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3). This quantity is the position of the rigid bodies' actor frame relative to the world. """ @@ -760,7 +760,7 @@ def body_link_pos_w(self) -> torch.Tensor: @property def body_link_quat_w(self) -> torch.Tensor: - """Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4). + """Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4). This quantity is the orientation of the rigid bodies' actor frame relative to the world. """ @@ -774,7 +774,7 @@ def body_link_quat_w(self) -> torch.Tensor: @property def body_link_vel_w(self) -> torch.Tensor: - """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6). + """Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6). This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame relative to the world. @@ -783,7 +783,7 @@ def body_link_vel_w(self) -> torch.Tensor: @property def body_link_lin_vel_w(self) -> torch.Tensor: - """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3). + """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3). This quantity is the linear velocity of the rigid bodies' center of mass frame relative to the world. """ @@ -791,7 +791,7 @@ def body_link_lin_vel_w(self) -> torch.Tensor: @property def body_link_ang_vel_w(self) -> torch.Tensor: - """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3). + """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3). This quantity is the angular velocity of the rigid bodies' center of mass frame relative to the world. """ @@ -803,7 +803,7 @@ def body_link_ang_vel_w(self) -> torch.Tensor: @property def body_com_pos_w(self) -> torch.Tensor: - """Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3). + """Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3). This quantity is the position of the rigid bodies' actor frame. """ @@ -813,13 +813,13 @@ def body_com_pos_w(self) -> torch.Tensor: def body_com_quat_w(self) -> torch.Tensor: """Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame. - Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies' actor frame. + Shape is (num_instances, num_bodies, 4). This quantity is the orientation of the rigid bodies' actor frame. """ return self.body_com_state_w[..., 3:7] @property def body_com_vel_w(self) -> torch.Tensor: - """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6). + """Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6). This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame. """ @@ -832,7 +832,7 @@ def body_com_vel_w(self) -> torch.Tensor: @property def body_com_lin_vel_w(self) -> torch.Tensor: - """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3). + """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3). This quantity is the linear velocity of the rigid bodies' center of mass frame. """ @@ -845,7 +845,7 @@ def body_com_lin_vel_w(self) -> torch.Tensor: @property def body_com_ang_vel_w(self) -> torch.Tensor: - """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3). + """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3). This quantity is the angular velocity of the rigid bodies' center of mass frame. """