Fixes error in Articulation where default_joint_stiffness and default_joint_damping is not correctly set if actuator is instance of ImplicitActuator #1580
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…_joint_damping is not correctly set if actuator is instance of ImplicitActuator
zoctipus
requested review from
jsmith-bdai,
Dhoeller19,
kellyguo11,
Mayankm96 and
jtigue-bdai
as code owners
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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
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there