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Fix joint friction/armature set events #2439

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Fix joint friction/armature set events #2439

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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ Guidelines for modifications:

## Contributors

* Akira Suzuki
* Alice Zhou
* Amr Mousa
* Andrej Orsula
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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/envs/mdp/events.py
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Expand Up @@ -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
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@Mayankm96 Mayankm96 May 7, 2025 •
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This fix won't work if you have a subset of env ids and joint ids over which the term is operating. There is definitely a bug here if joint_ids is a slice.

The way to fix it is to check if one of them is a slice. If yes, we keep the broadcasting. Otherwise we index directly.

)

# joint armature
Expand All @@ -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:
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2 changes: 1 addition & 1 deletion source/isaaclab_tasks/config/extension.toml
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@@ -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"
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9 changes: 9 additions & 0 deletions source/isaaclab_tasks/docs/CHANGELOG.rst
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@@ -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)
~~~~~~~~~~~~~~~~~~~~

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10 changes: 10 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env_cfg.py
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Expand Up @@ -48,6 +48,16 @@ class EventCfg:
},
)

add_joint_randomization = EventTerm(
func=mdp.randomize_joint_parameters,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
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Try to make joint_names as a subset of joints to see if the above fix still works.

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I see, this seems like an issue because I'm specifying body_names and not joint_names.

I can close this if that is correct

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randomize_joint_parameters should work with joint_names instead of body_names, since it modifies the joints in the articulations instead of bodies.

"friction_distribution_params": (0.0, 0.0),
"armature_distribution_params": (0.0, 0.0),
},
)


@configclass
class AnymalCFlatEnvCfg(DirectRLEnvCfg):
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