Separates joint state setters inside Articulation class #1751
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Mayankm96
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jtigue-bdai
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Jan 30, 2025
source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
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Mayankm96
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@kellyguo11 I have updated the MR. |
kellyguo11
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Mar 4, 2025
Signed-off-by: Mayank Mittal <[email protected]>
Mayankm96
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Mar 4, 2025
Signed-off-by: Mayank Mittal <[email protected]>
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# Description Previously in the Articulation class, there was a single method for setting joint state. However, it is desirable at times to only set joint position or velocity. For instance, for randomization events that pushes a joint by adding a random velocity to it. This MR separates the `write_joint_state_to_sim` into separate setters for joint positions and joint velocities. This goes inline with the method to set root pose, root velocity or the root state. ## Type of change - New feature (non-breaking change which adds functionality) ## 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 - [x] 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: Kelly Guo <[email protected]>
ToxicNS
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Apr 24, 2025
# Description Previously in the Articulation class, there was a single method for setting joint state. However, it is desirable at times to only set joint position or velocity. For instance, for randomization events that pushes a joint by adding a random velocity to it. This MR separates the `write_joint_state_to_sim` into separate setters for joint positions and joint velocities. This goes inline with the method to set root pose, root velocity or the root state. ## Type of change - New feature (non-breaking change which adds functionality) ## 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 - [x] 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: Kelly Guo <[email protected]>
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Description
Previously in the Articulation class, there was a single method for setting joint state. However, it is desirable at times to only set joint position or velocity. For instance, for randomization events that pushes a joint by adding a random velocity to it.
This MR separates the
write_joint_state_to_siminto separate setters for joint positions and joint velocities. This goes inline with the method to set root pose, root velocity or the root state.Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there