Randomizes viscous and dynamic joint friction based on IsaacSim 5.0 #3318
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GiulioRomualdi
requested review from
ooctipus,
kellyguo11,
Mayankm96 and
jtigue-bdai
as code owners
4 tasks
Mayankm96
reviewed
Sep 2, 2025
Mayankm96
reviewed
Sep 2, 2025
…iscous coefficients in simulation
Mayankm96
reviewed
Sep 6, 2025
jtigue-bdai
reviewed
Sep 8, 2025
Co-authored-by: James Tigue <[email protected]> Signed-off-by: Giulio Romualdi <[email protected]>
Co-authored-by: James Tigue <[email protected]> Signed-off-by: Giulio Romualdi <[email protected]>
Co-authored-by: James Tigue <[email protected]> Signed-off-by: Giulio Romualdi <[email protected]>
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Thanks for the additions. Can you add to this test? And can you update: Change log |
Hi @jtigue-bdai! You are welcome!! |
Mayankm96
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Mayankm96
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Sep 11, 2025
Mayankm96
approved these changes
Sep 11, 2025
Signed-off-by: Mayank Mittal <[email protected]>
Signed-off-by: Mayank Mittal <[email protected]>
Mayankm96
changed the title
Mayankm96
changed the title
Mayankm96
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|
Build and Test / test-general seems failing but I'm not able to find the error, could you please pointing me the correct file I should check? |
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bfafb24 fixes the formatting that was causing an issue in the CI |
Mayankm96
approved these changes
Sep 11, 2025
Mayankm96
reviewed
Sep 12, 2025
Mayankm96
reviewed
Sep 12, 2025
Signed-off-by: Mayank Mittal <[email protected]>
Signed-off-by: Mayank Mittal <[email protected]>
Signed-off-by: Mayank Mittal <[email protected]>
Signed-off-by: Giulio Romualdi <[email protected]>
|
I merged again master on the branch :) |
Mayankm96
reviewed
Sep 18, 2025
| articulation.update(sim.cfg.dt) | ||
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| # Validate values propagated | ||
| assert torch.allclose(articulation.data.joint_dynamic_friction_coeff, dynamic_friction_2) |
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This test compares the input data with the internal data class. That's not the same as the actual PhysX buffers that we write to. You would need to check agains tthe root_physx_view.get.... method to make sure values are set correctly :)
Mayankm96
reviewed
Sep 18, 2025
| @@ -1,6 +1,14 @@ | |||
| Changelog | |||
| --------- | |||
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| 0.46.3 (2025-09-17) | |||
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Could you please update the extension.toml as well?
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Description
This PR fixes #3266, adding the possibility to randomize the friction coefficient when isaacsim is higher than 5.0.0
Type of change
Screenshots
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there