Fixes error in apply_actions method in NonHolonomicAction action term.
#1513
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Signed-off-by: Kyle Morgenstein <[email protected]>
Signed-off-by: Kyle Morgenstein <[email protected]>
Signed-off-by: Kyle Morgenstein <[email protected]>
KyleM73
requested review from
Dhoeller19,
Mayankm96,
jsmith-bdai and
kellyguo11
as code owners
Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
SevenFo
pushed a commit
to SevenFo/IsaacLab
that referenced
this pull request
May 19, 2025
…rm. (isaac-sim#1513) # Description After indexing the size of `quad_w` in the `apply_actions` method is (N,B,4) where B will always equal 1, since it is enforced in the `__init__` that only one body name is passed to the action term config. However, the `euler_xyz_from_quat` method requires inputs to be size (N,4), and so an error is thrown for input size (N,1,4). This PR just creates a (N,4) view of quat_w to be passed to `euler_xyz_from_quat`. This simple change does not introduce any new warnings and works with a simple non holonomic robot, like the Clearpath Husky. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## 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 - [ ] 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kyle Morgenstein <[email protected]> Signed-off-by: Kelly Guo <[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
After indexing the size of
quad_win theapply_actionsmethod is (N,B,4) where B will always equal 1, since it is enforced in the__init__that only one body name is passed to the action term config. However, theeuler_xyz_from_quatmethod requires inputs to be size (N,4), and so an error is thrown for input size (N,1,4). This PR just creates a (N,4) view of quat_w to be passed toeuler_xyz_from_quat. This simple change does not introduce any new warnings and works with a simple non holonomic robot, like the Clearpath Husky.Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there