Fix joint friction/armature set events

Author: asuzukii

CONTRIBUTORS.md

@@ -35,6 +35,7 @@ Guidelines for modifications:
 
 ## Contributors
 
+* Akira Suzuki
 * Alice Zhou
 * Amr Mousa
 * Andrej Orsula

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -574,7 +574,7 @@ def randomize_joint_parameters(
             distribution=distribution,
         )
         asset.write_joint_friction_coefficient_to_sim(
-            friction_coeff[env_ids[:, None], joint_ids], joint_ids=joint_ids, env_ids=env_ids
+            friction_coeff[env_ids, joint_ids], joint_ids=joint_ids, env_ids=env_ids
         )
 
     # joint armature
@@ -587,7 +587,7 @@ def randomize_joint_parameters(
             operation=operation,
             distribution=distribution,
         )
-        asset.write_joint_armature_to_sim(armature[env_ids[:, None], joint_ids], joint_ids=joint_ids, env_ids=env_ids)
+        asset.write_joint_armature_to_sim(armature[env_ids, joint_ids], joint_ids=joint_ids, env_ids=env_ids)
 
     # joint position limits
     if lower_limit_distribution_params is not None or upper_limit_distribution_params is not None:

source/isaaclab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.31"
+version = "0.10.32"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.10.32 (2025-05-07)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Added a dummy joint randomization event term in ``Isaac-Velocity-Flat-Anymal-C-Direct-v0`` to keep the joint friction/armature randomization tested.
+
+
 0.10.31 (2025-04-02)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env_cfg.py

@@ -48,6 +48,16 @@ class EventCfg:
         },
     )
 
+    add_joint_randomization = EventTerm(
+        func=mdp.randomize_joint_parameters,
+        mode="startup",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
+            "friction_distribution_params": (0.0, 0.0),
+            "armature_distribution_params": (0.0, 0.0),
+        },
+    )
+
 
 @configclass
 class AnymalCFlatEnvCfg(DirectRLEnvCfg):