Renames joint dynamic and static friction variables#3461
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matthewtrepte wants to merge 26 commits into
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Renames joint dynamic and static friction variables#3461matthewtrepte wants to merge 26 commits into
matthewtrepte wants to merge 26 commits into
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Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
…IsaacLab into mtrepte/rename_joint_vars
Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
jtigue-bdai
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Sep 17, 2025
jtigue-bdai
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all looks good. the main thing is the use of torque. In most cases it will be torque but for prismatic joints it will be a force. Effort is a more general term but you can add clarification that effort (force or torque).
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
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Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
kellyguo11
reviewed
Sep 19, 2025
| """ | ||
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| # TODO(mtrepte): do these friction vars need to be renamed as well? | ||
| friction: dict[str, float] | float | None = None |
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maybe we can mark this as deprecated as well and keep it for now for backward support for 4.5 where it's still a coefficient. we can update the docstring to mention in 4.5 it's coeff, and in 5.0+ it's effort. then, we can also create a new static_friction parameter for the new API that will be effort. @jtigue-bdai do you think that would make sense?
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done, though please check again
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Let's merge this after #3318 is done since that one has been hanging for a while. |
kellyguo11
reviewed
Sep 24, 2025
| (see :attr:`static_friction`). This field is therefore considered deprecated in newer versions. | ||
| """ | ||
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| static_friction: dict[str, float] | float | None = None |
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@Mayankm96 @jtigue-bdai are you ok with this change? I think it might make more sense to move towards using static_friction in future releases to differentiate from dynamic_friction
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In general i think working towards static_friction is a good idea.
Currently it looks like you only add it to the actuator_cfg, I don't see where this get handled by the actuator_base
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I've merged in #3318, we might need some rework on this one to accommodate the changes in the other PR. |
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@matthewtrepte @kellyguo11 Should we close this MR or change it to doc fixes only for now? We will have another MR which reworks the actuator params more. |
Contributor
Yes, let's make this a doc-only change for now. We can refactor it into the config setup that @jtigue-bdai and team are proposing along with the actuator updates. |
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kellyguo11
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) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Add docstring clarifications for joint modeling in 4.5 vs 5.0 Replaces this MR - #3461 <!-- 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. --> - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
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Closing in favor of #3869 |
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…aac-sim#3869) <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Add docstring clarifications for joint modeling in 4.5 vs 5.0 Replaces this MR - isaac-sim#3461 <!-- 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. --> <!-- As you go through the list, delete the ones that are not applicable. --> - Documentation update Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
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…aac-sim#3869) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Add docstring clarifications for joint modeling in 4.5 vs 5.0 Replaces this MR - isaac-sim#3461 <!-- 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. --> - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
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…aac-sim#3869) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Add docstring clarifications for joint modeling in 4.5 vs 5.0 Replaces this MR - isaac-sim#3461 <!-- 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. --> - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
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…869) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Add docstring clarifications for joint modeling in 4.5 vs 5.0 Replaces this MR - isaac-sim/IsaacLab#3461 <!-- 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. --> - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
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Description
Rename misnamed joint coefficient variables in Articulation as the new joint friction APIs are forces/torques and not coefficients.
In Articulation
joint_friction_coefftojoint_static_friction_effortjoint_dynamic_friction_coefftojoint_dynamic_friction_effortType of change
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Please attach before and after screenshots of the change if applicable.
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there