Fixes root view to body view mapping in articulation #497
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This is a good catch, thanks a lot! |
Dhoeller19
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Jun 14, 2024
Dhoeller19
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Dhoeller19
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fatimaanes
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Aug 8, 2024
Fixes isaac-sim#475 ## 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./isaaclab.sh --test` and they pass - [ ] 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
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Description
Thank you for the really great framework!
fixes the index ordering between the articulation view and the rigid object view.
I know that body_view will not be used anymore from 0.4.0, but for the current version, there is a bug
in Articulation.set_external_force function. The re-ordering was not performing correctly and was applying forces to different rigid bodies. The bug was fixed by changing one line.
Fixes #475
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --format./isaaclab.sh --testand they passconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there