Fixes indexing bug in write_joint_limits_to_sim (#1401)

# Description

This change fixes bugs in Articulation class `write_joint_limits_to_sim`
method, where previously env_ids and joint_ids were not taken into
account when ids passed in are not None.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- 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 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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- [x] I have done this task
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source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.27.14"
+version = "0.27.15"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.27.15 (2024-11-09)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed indexing in :meth:`omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim` to correctly process non-None ``env_ids`` and ``joint_ids``.
+
+
 0.27.14 (2024-10-23)
 ~~~~~~~~~~~~~~~~~~~~
 

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

@@ -540,8 +540,13 @@ def write_joint_limits_to_sim(
         # 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])
+        if torch.any(
+            (self._data.default_joint_pos[env_ids, joint_ids] < limits[..., 0])
+            | (self._data.default_joint_pos[env_ids, joint_ids] > limits[..., 1])
+        ):
+            self._data.default_joint_pos[env_ids, joint_ids] = torch.clamp(
+                self._data.default_joint_pos[env_ids, joint_ids], limits[..., 0], limits[..., 1]
+            )
             omni.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."

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

@@ -572,6 +572,18 @@ def test_joint_limits(self):
                         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 with indexing
+                        env_ids = torch.arange(1, device=device)
+                        joint_ids = torch.arange(2, device=device)
+                        limits = torch.zeros(env_ids.shape[0], joint_ids.shape[0], 2, device=device)
+                        limits[..., 0] = (torch.rand(env_ids.shape[0], joint_ids.shape[0], device=device) + 5.0) * -1.0
+                        limits[..., 1] = torch.rand(env_ids.shape[0], joint_ids.shape[0], device=device) + 5.0
+                        articulation.write_joint_limits_to_sim(limits, env_ids=env_ids, joint_ids=joint_ids)
+
+                        # Check new limits are in place
+                        torch.testing.assert_close(articulation._data.joint_limits[env_ids][:, joint_ids], 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
@@ -584,6 +596,18 @@ def test_joint_limits(self):
                         )
                         self.assertTrue(torch.all(within_bounds))
 
+                        # Set new joint limits that invalidate default joint pos with indexing
+                        limits = torch.zeros(env_ids.shape[0], joint_ids.shape[0], 2, device=device)
+                        limits[..., 0] = torch.rand(env_ids.shape[0], joint_ids.shape[0], device=device) * -0.1
+                        limits[..., 1] = torch.rand(env_ids.shape[0], joint_ids.shape[0], device=device) * 0.1
+                        articulation.write_joint_limits_to_sim(limits, env_ids=env_ids, joint_ids=joint_ids)
+
+                        # Check if all values are within the bounds
+                        within_bounds = (
+                            articulation._data.default_joint_pos[env_ids][:, joint_ids] >= limits[..., 0]
+                        ) & (articulation._data.default_joint_pos[env_ids][:, joint_ids] <= 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):