From 858287de9bbf8ed19044b95e21be110f160a7004 Mon Sep 17 00:00:00 2001 From: James Tigue Date: Fri, 21 Nov 2025 11:24:33 -0500 Subject: [PATCH 1/3] prevent setting masses less that zero --- source/isaaclab/isaaclab/envs/mdp/events.py | 1 + 1 file changed, 1 insertion(+) diff --git a/source/isaaclab/isaaclab/envs/mdp/events.py b/source/isaaclab/isaaclab/envs/mdp/events.py index 7ea6d7b2e0a..02d1561a915 100644 --- a/source/isaaclab/isaaclab/envs/mdp/events.py +++ b/source/isaaclab/isaaclab/envs/mdp/events.py @@ -360,6 +360,7 @@ def __call__( masses = _randomize_prop_by_op( masses, mass_distribution_params, env_ids, body_ids, operation=operation, distribution=distribution ) + masses = torch.clamp(masses, min=1e-6) # ensure masses are positive # set the mass into the physics simulation self.asset.root_physx_view.set_masses(masses, env_ids) From d44dfbcc3b7f6804d79c01bf92c9065dda844fcd Mon Sep 17 00:00:00 2001 From: James Tigue Date: Fri, 21 Nov 2025 11:26:36 -0500 Subject: [PATCH 2/3] changelog and version --- source/isaaclab/docs/CHANGELOG.rst | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index 6a5b57f89c2..7cf8f56ab5e 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.48.6 (2025-11-21) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Prevent randomizing mass to zero in :meth:`~isaaclab.envs.mdp.events.randomize_mass_by_scale` to avoid physics errors. + + 0.48.5 (2025-11-14) ~~~~~~~~~~~~~~~~~~~ From 9777dbbd158bed8e14f02f519ef98dd275a65f0a Mon Sep 17 00:00:00 2001 From: James Tigue Date: Fri, 21 Nov 2025 11:36:51 -0500 Subject: [PATCH 3/3] extenstion toml --- source/isaaclab/config/extension.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index e1f7205392a..48a598cd23f 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.48.5" +version = "0.48.6" # Description title = "Isaac Lab framework for Robot Learning"