Fixes DCMotor clipping for negative power and adds actuator tests #2300
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jtigue-bdai
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jsmith-bdai,
kellyguo11 and
Mayankm96
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jtigue-bdai
changed the title
6 tasks
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hmm looks like the DC motor and environment tests are both failing, along with a few others, but not sure if they are all related to this change |
It seems there is something happening with the ActuatorNetLSTM actuators in AnymalC that is producing nan values. Will continue investigating. @Mayankm96 anything about this spark ideas? |
jtigue-bdai
commented
Jun 27, 2025
Signed-off-by: James Tigue <[email protected]>
Mayankm96
reviewed
Jun 28, 2025
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@jtigue-bdai Do you have any references for the negative power? |
kellyguo11
approved these changes
Jul 21, 2025
kellyguo11
reviewed
Jul 22, 2025
source/isaaclab/docs/CHANGELOG.rst
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| * Updated gymnasium to v1.2.0. This update includes fixes for a memory leak that appears when recording | |||
| >>>* Updated gymnasium to v1.2.0. This update includes fixes for a memory leak that appears when recording | |||
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| # @pytest.mark.parametrize("num_envs", [1, 2]) |
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could these be removed or reused?
jtigue-bdai
commented
Jul 22, 2025
jtigue-bdai
commented
Jul 22, 2025
Signed-off-by: James Tigue <[email protected]>
jtigue-bdai
commented
Jul 22, 2025
jtigue-bdai
commented
Jul 22, 2025
Signed-off-by: James Tigue <[email protected]>
jtigue-bdai
commented
Jul 22, 2025
Signed-off-by: James Tigue <[email protected]>
Signed-off-by: James Tigue <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
zuxinrui
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Jul 29, 2025
…aac-sim#2300) # Description This PR adds tests for actuator initialization, configuration, and computation for Implicit, IdealPD, and DC motor actuators. This PR also updates the DCMotor model to clip based on a four quadrant DC motor model. This will fix improper clipping in the negative power regions (i.e. positive torque and negative velocity or negative torque and positive velocity). NOTE: This PR is dependant on the pytest migration in: [2034](isaac-sim#2034) This PR includes changes made in [2291](isaac-sim#2291) and would be an alternate candidate. Fixes [isaac-sim#2139](isaac-sim#2139) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Screenshots  ## 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 - [x] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: James Tigue <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
harry-wf-cheung
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Jul 30, 2025
…aac-sim#2300) # Description This PR adds tests for actuator initialization, configuration, and computation for Implicit, IdealPD, and DC motor actuators. This PR also updates the DCMotor model to clip based on a four quadrant DC motor model. This will fix improper clipping in the negative power regions (i.e. positive torque and negative velocity or negative torque and positive velocity). NOTE: This PR is dependant on the pytest migration in: [2034](isaac-sim#2034) This PR includes changes made in [2291](isaac-sim#2291) and would be an alternate candidate. Fixes [isaac-sim#2139](isaac-sim#2139) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Screenshots  ## 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 - [x] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: James Tigue <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
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Description
This PR adds tests for actuator initialization, configuration, and computation for Implicit, IdealPD, and DC motor actuators.
This PR also updates the DCMotor model to clip based on a four quadrant DC motor model. This will fix improper clipping in the negative power regions (i.e. positive torque and negative velocity or negative torque and positive velocity).
NOTE: This PR is dependant on the pytest migration in: 2034
This PR includes changes made in 2291 and would be an alternate candidate.
Fixes #2139
Type of change
Screenshots
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there