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Fix indexing for joint parameters in randomize_joint_parameters class #4051

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Fix indexing for joint parameters in randomize_joint_parameters class #4051

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15 changes: 10 additions & 5 deletions source/isaaclab/isaaclab/envs/mdp/events.py
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Original file line number Diff line number Diff line change
Expand Up @@ -703,6 +703,11 @@ def __call__(
else:
joint_ids = torch.tensor(self.asset_cfg.joint_ids, dtype=torch.int, device=self.asset.device)

if env_ids != slice(None) and joint_ids != slice(None):
env_ids_for_slice = env_ids[:, None]
else:
env_ids_for_slice = env_ids

# sample joint properties from the given ranges and set into the physics simulation
# joint friction coefficient
if friction_distribution_params is not None:
Expand All @@ -719,7 +724,7 @@ def __call__(
friction_coeff = torch.clamp(friction_coeff, min=0.0)

# Always set static friction (indexed once)
static_friction_coeff = friction_coeff[env_ids[:, None], joint_ids]
static_friction_coeff = friction_coeff[env_ids_for_slice, joint_ids]

# if isaacsim version is lower than 5.0.0 we can set only the static friction coefficient
major_version = int(env.sim.get_version()[0])
Expand Down Expand Up @@ -750,8 +755,8 @@ def __call__(
dynamic_friction_coeff = torch.minimum(dynamic_friction_coeff, friction_coeff)

# Index once at the end
dynamic_friction_coeff = dynamic_friction_coeff[env_ids[:, None], joint_ids]
viscous_friction_coeff = viscous_friction_coeff[env_ids[:, None], joint_ids]
dynamic_friction_coeff = dynamic_friction_coeff[env_ids_for_slice, joint_ids]
viscous_friction_coeff = viscous_friction_coeff[env_ids_for_slice, joint_ids]
else:
# For versions < 5.0.0, we do not set these values
dynamic_friction_coeff = None
Expand All @@ -777,7 +782,7 @@ def __call__(
distribution=distribution,
)
self.asset.write_joint_armature_to_sim(
armature[env_ids[:, None], joint_ids], joint_ids=joint_ids, env_ids=env_ids
armature[env_ids_for_slice, joint_ids], joint_ids=joint_ids, env_ids=env_ids
)

# joint position limits
Expand Down Expand Up @@ -805,7 +810,7 @@ def __call__(
)

# extract the position limits for the concerned joints
joint_pos_limits = joint_pos_limits[env_ids[:, None], joint_ids]
joint_pos_limits = joint_pos_limits[env_ids_for_slice, joint_ids]
if (joint_pos_limits[..., 0] > joint_pos_limits[..., 1]).any():
raise ValueError(
"Randomization term 'randomize_joint_parameters' is setting lower joint limits that are greater"
Expand Down