Fix joint friction/armature set events #2439
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asuzukii
requested review from
Mayankm96,
jsmith-bdai and
kellyguo11
as code owners
| ) | ||
| 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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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.
| 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.
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Closing this one for now as I don't believe this is the correct fix / use case of the API. Please feel free to open a new issue/PR if needed. |
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Description
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Fixes #2440, which was a bug that passed in a wrong dim tensor into the joint friction/armature attribute
Adds a dummy joint rand event in anymalc env cfg to make sure this doesn't break again.
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