From e8ea18500a84fb599d01f864f6824d7c8b7582d8 Mon Sep 17 00:00:00 2001
From: Octi Zhang <127588710+zoctipus@users.noreply.github.com>
Date: Thu, 2 Jan 2025 16:40:01 -0800
Subject: [PATCH] Fixes error in Articulation where default_joint_stiffness and
 default_joint_damping is not correctly set if actuator is instance of
 ImplicitActuator (#1580)

# Description

Before the fix, the field, default_joint_stiffness, and
default_joint_damping in omni.isaac.lab.assets.Articulation will be
the default value configured Joint Drive property in usd file, and
defining a new value with actuator config will not have effect
if the actuator is type ImplicitActuator

after the fix, all actuator types will be able to override
default_joint_stiffness and default_joint_damping

Fixes #1552

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## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)

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## 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
- [ ] 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
- [X] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
---
 source/extensions/omni.isaac.lab/config/extension.toml   | 2 +-
 source/extensions/omni.isaac.lab/docs/CHANGELOG.rst      | 9 +++++++++
 .../omni/isaac/lab/assets/articulation/articulation.py   | 6 +++---
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
index d0ce0dae38..d64f5d9f66 100644
--- a/source/extensions/omni.isaac.lab/config/extension.toml
+++ b/source/extensions/omni.isaac.lab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.30.1"
+version = "0.30.2"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
index a96a1c2c04..c7ca16bdca 100644
--- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.30.2 (2024-12-22)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed populating default_joint_stiffness and default_joint_damping values for ImplicitActuator instances in :class:`omni.isaac.lab.assets.Articulation`
+
+
 0.30.1 (2024-12-17)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
index 16b313b96c..444a2ad4db 100644
--- a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
+++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
@@ -1348,9 +1348,9 @@ def _process_actuators_cfg(self):
                 self.write_joint_velocity_limit_to_sim(actuator.velocity_limit, joint_ids=actuator.joint_indices)
                 self.write_joint_armature_to_sim(actuator.armature, joint_ids=actuator.joint_indices)
                 self.write_joint_friction_to_sim(actuator.friction, joint_ids=actuator.joint_indices)
-                # Store the actual default stiffness and damping values for explicit actuators (not written the sim)
-                self._data.default_joint_stiffness[:, actuator.joint_indices] = actuator.stiffness
-                self._data.default_joint_damping[:, actuator.joint_indices] = actuator.damping
+            # Store the actual default stiffness and damping values for explicit and implicit actuators (not written the sim)
+            self._data.default_joint_stiffness[:, actuator.joint_indices] = actuator.stiffness
+            self._data.default_joint_damping[:, actuator.joint_indices] = actuator.damping
 
         # perform some sanity checks to ensure actuators are prepared correctly
         total_act_joints = sum(actuator.num_joints for actuator in self.actuators.values())