Adds velocity_limit_sim and effort_limit_sim to actuator #1654
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jtigue-bdai
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I like this! and enjoyed the insightful discussion in PR1509 I think previous commit that write the velocity limit in actuator cfg to simulation-level velocity limit broke some of my quadrupet training, and I only figured it out because of the commit before that one worked. |
source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
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Co-authored-by: Pascal Roth <[email protected]> Signed-off-by: James Tigue <[email protected]>
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Signed-off-by: James Tigue <[email protected]>
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…1873) # Description The previous fix in #1654 was checking if `effort_limits_sim` is None instead of checking `cfg.effort_limits_sim` for explicit actuators. This did NOT work as effort limits sim is a tensor that gets assigned the value on initialization. The new fix now adds an implicit/explicit model attribute to the actuator model to ensure the right defaults are getting set. It moves all the implicit actuator warning code to its class to keep the articulation class cleaner. We also revert the behavior of setting velocity limits for implicit actuators to the state before #1509. Before that change, the parameter `velocity_limit` was set in the configurations but not getting passed through. The MR #1509 allowed these values to be set which caused many of the assets to not train anymore or behave differently between IsaacLab versions. We now revert this behavior with a warning. If users want to set the limits, they should use the `effort_limit_sim` and `velocity_limit_sim` quantities. Fixes #1837 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshot The training of Allegro hand environment: * Green: The current main at 6a415df * Black: This MR * Orange: Commenting out the setting of `write_joint_velocity_to_sim` which was introduced in #1509.  ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] 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 --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: James Tigue <[email protected]>
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Description
This PR follows up on Issue 1384 and PR 1509 by seperating actuator limits for calculating computed torques from physics solver limits.
Fixes # (#1384)
Type of change
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there