Fixes default joint pos when setting joint limits

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.24.13"
+version = "0.24.16"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,14 +1,25 @@
 Changelog
 ---------
 
-0.22.15 (2024-09-20)
+0.24.16 (2024-09-25)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed potential issue where default joint positions can fall outside of the limits being set with Articulation's
+  ``write_joint_limits_to_sim`` API.
+
+
+0.24.15 (2024-09-20)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
 ^^^^^
 
 * Added :meth:`grab_images` to be able to use images for an observation term in manager based environments
 
+
 0.24.14 (2024-09-20)
 ~~~~~~~~~~~~~~~~~~~~
 
@@ -20,6 +31,7 @@ Added
   can be used to convert a perspective depth image into an orthogonal depth image, so that the point cloud
   can be unprojected correctly with :meth:`unproject_depth`.
 
+
 0.24.13 (2024-09-08)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -539,6 +539,13 @@ def write_joint_limits_to_sim(
             env_ids = env_ids[:, None]
         # set into internal buffers
         self._data.joint_limits[env_ids, joint_ids] = limits
+        # update default joint pos to stay within the new limits
+        if torch.any((self._data.default_joint_pos < limits[..., 0]) | (self._data.default_joint_pos > limits[..., 1])):
+            self._data.default_joint_pos = torch.clamp(self._data.default_joint_pos, limits[..., 0], limits[..., 1])
+            carb.log_warn(
+                "Some default joint positions are outside of the range of the new joint limits. Default joint positions"
+                " will be clamped to be within the new joint limits."
+            )
         # set into simulation
         self.root_physx_view.set_dof_limits(self._data.joint_limits.cpu(), indices=physx_env_ids.cpu())
 

source/extensions/omni.isaac.lab/test/assets/test_articulation.py

@@ -542,6 +542,48 @@ def test_out_of_range_default_joint_vel(self):
             # Check if articulation is initialized
             self.assertFalse(articulation._is_initialized)
 
+    def test_joint_limits(self):
+        """Test write_joint_limits_to_sim API and when default pos falls outside of the new limits."""
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        # Create articulation
+                        articulation_cfg = generate_articulation_cfg(articulation_type="panda")
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Play sim
+                        sim.reset()
+                        # Check if articulation is initialized
+                        self.assertTrue(articulation._is_initialized)
+
+                        # Get current default joint pos
+                        default_joint_pos = articulation._data.default_joint_pos.clone()
+
+                        # Set new joint limits
+                        limits = torch.zeros(num_articulations, articulation.num_joints, 2, device=device)
+                        limits[..., 0] = (
+                            torch.rand(num_articulations, articulation.num_joints, device=device) + 5.0
+                        ) * -1.0
+                        limits[..., 1] = torch.rand(num_articulations, articulation.num_joints, device=device) + 5.0
+                        articulation.write_joint_limits_to_sim(limits)
+
+                        # Check new limits are in place
+                        torch.testing.assert_close(articulation._data.joint_limits, limits)
+                        torch.testing.assert_close(articulation._data.default_joint_pos, default_joint_pos)
+
+                        # Set new joint limits that invalidate default joint pos
+                        limits = torch.zeros(num_articulations, articulation.num_joints, 2, device=device)
+                        limits[..., 0] = torch.rand(num_articulations, articulation.num_joints, device=device) * -0.1
+                        limits[..., 1] = torch.rand(num_articulations, articulation.num_joints, device=device) * 0.1
+                        articulation.write_joint_limits_to_sim(limits)
+
+                        # Check if all values are within the bounds
+                        within_bounds = (articulation._data.default_joint_pos >= limits[..., 0]) & (
+                            articulation._data.default_joint_pos <= limits[..., 1]
+                        )
+                        self.assertTrue(torch.all(within_bounds))
+
     def test_external_force_on_single_body(self):
         """Test application of external force on the base of the articulation."""
         for num_articulations in (1, 2):

tools/per_test_timeouts.py

@@ -8,6 +8,7 @@
 Any tests not listed here will use the default timeout.
 """
 PER_TEST_TIMEOUTS = {
+    "test_articulation.py": 200,
     "test_environments.py": 1200,  # This test runs through all the environments for 100 steps each
     "test_environment_determinism.py": 200,  # This test runs through many the environments for 100 steps each
     "test_env_rendering_logic.py": 300,