Merge branch 'main' of github.com:isaac-sim/IsaacLab into camera_limi…

…tation
kellyguo11 · Oct 23, 2024 · 102616e · 102616e
2 parents b5fe0ec + 6bc4d0a
commit 102616e
Show file tree

Hide file tree

Showing 6 changed files with 15 additions and 4 deletions.
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -45,6 +45,7 @@ Guidelines for modifications:
 * Gary Lvov
 * Giulio Romualdi
 * HoJin Jeon
+* Jan Kerner
 * Jean Tampon
 * Jia Lin Yuan
 * Jingzhou Liu
@@ -70,6 +71,7 @@ Guidelines for modifications:
 * Zhengyu Zhang
 * Ziqi Fan
 * Qian Wan
+* Wei Yang
 
 ## Acknowledgements
 

diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
@@ -13,7 +13,6 @@ keywords = ["kit", "robotics", "learning", "ai"]
 
 [dependencies]
 "omni.isaac.core" = {}
-"omni.isaac.ml_archive" = {}
 "omni.replicator.core" = {}
 
 [python.pipapi]

diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions_to_limits.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions_to_limits.py
@@ -185,7 +185,7 @@ def reset(self, env_ids: Sequence[int] | None = None) -> None:
             env_ids = slice(None)
         super().reset(env_ids)
         # reset history to current joint positions
-        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids, self._joint_ids]
+        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids[:, None], self._joint_ids]
 
     def process_actions(self, actions: torch.Tensor):
         # apply affine transformations

diff --git a/source/extensions/omni.isaac.lab_tasks/config/extension.toml b/source/extensions/omni.isaac.lab_tasks/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.7"
+version = "0.10.8"
 
 # Description
 title = "Isaac Lab Environments"

diff --git a/source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.10.8 (2024-10-22)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the wrong selection of body id's in the :meth:`omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp.rewards.feet_slide`
+  reward function. This makes sure the right IDs are selected for the bodies.
+
+
 0.10.7 (2024-10-02)
 ~~~~~~~~~~~~~~~~~~~
 

diff --git a/...mni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/mdp/rewards.py b/...mni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/mdp/rewards.py
@@ -77,7 +77,7 @@ def feet_slide(env, sensor_cfg: SceneEntityCfg, asset_cfg: SceneEntityCfg = Scen
     contact_sensor: ContactSensor = env.scene.sensors[sensor_cfg.name]
     contacts = contact_sensor.data.net_forces_w_history[:, :, sensor_cfg.body_ids, :].norm(dim=-1).max(dim=1)[0] > 1.0
     asset = env.scene[asset_cfg.name]
-    body_vel = asset.data.body_lin_vel_w[:, asset_cfg.body_ids, :2]
+    body_vel = asset.data.body_lin_vel_w[:, sensor_cfg.body_ids, :2]
     reward = torch.sum(body_vel.norm(dim=-1) * contacts, dim=1)
     return reward