Uses effort_limit from USD if not specified in actuator cfg
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Mayankm96
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Sep 23, 2025
| # For explicit models, we do not want to enforce the effort limit through the solver | ||
| # (unless it is explicitly set) | ||
| if not self.is_implicit_model and self.cfg.effort_limit_sim is None: | ||
| effort_limit_is_finite = ( |
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Modifying the code where we set effort_limit might be simpler i think
# For explicit models, if user does not provide effort limit, we want to default to USD values.
# For implicit models, we want to enforce the effort limit through the solver.
if not self.is_implicit_model and self.cfg.effort_limit_sim is None:
self.effort_limit = self._parse_joint_parameter(self.cfg.effort_limit, effort_limit)
else:
self.effort_limit = self._parse_joint_parameter(self.cfg.effort_limit, self.effort_limit_sim)
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JuanaDd
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Sep 23, 2025
| dynamic_friction=self._data.default_joint_dynamic_friction_coeff[:, joint_ids], | ||
| viscous_friction=self._data.default_joint_viscous_friction_coeff[:, joint_ids], | ||
| effort_limit=self._data.joint_effort_limits[:, joint_ids], | ||
| effort_limit=self._data.joint_effort_limits[:, joint_ids].clone(), |
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@Mayankm96 clone is required because effort_limit would be overwritten to effort_limit_sim again here
Mayankm96
changed the title
effort_limit from USD asset if not specified in articulation cfg
Mayankm96
changed the title
effort_limit from USD asset if not specified in articulation cfgeffort_limit from USD asset if not specified in actuator cfg
Mayankm96
changed the title
effort_limit from USD asset if not specified in actuator cfgeffort_limit from USD if not specified in actuator cfg
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Description
This PR fixes a bug in actuator initialization where effort limits specified in USD assets were being incorrectly overridden with a very large default value (1.0e9) for explicit actuator models.
Fixes # (issue)
Previously, the ActuatorBase initialization logic would unconditionally fall back to _DEFAULT_MAX_EFFORT_SIM (1.0e9) for explicit actuator models when effort_limit_sim was not explicitly set in the configuration, even when the USD asset contained finite, meaningful effort limit values.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there