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Fix to use to_numpy utils for joint velocity and effort in ArticulationController #99

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Fix to use to_numpy utils for joint velocity and effort in ArticulationController #99

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8 changes: 6 additions & 2 deletions source/extensions/isaacsim.core.api/python/impl/controllers/articulation_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,9 @@ def apply_action(self, control_actions: ArticulationAction) -> None:
)
joint_velocities = self._articulation_view._backend_utils.expand_dims(joint_velocities, 0)
for i in range(control_actions.get_length()):
if joint_velocities[0][i] is None or np.isnan(joint_velocities[0][i]):
if joint_velocities[0][i] is None or np.isnan(
self._articulation_view._backend_utils.to_numpy(joint_velocities[0][i])
):
joint_velocities[0][i] = applied_actions.joint_velocities[joint_indices[i]]
joint_efforts = control_actions.joint_efforts
if control_actions.joint_efforts is not None:
Expand All @@ -87,7 +89,9 @@ def apply_action(self, control_actions: ArticulationAction) -> None:
)
joint_efforts = self._articulation_view._backend_utils.expand_dims(joint_efforts, 0)
for i in range(control_actions.get_length()):
if joint_efforts[0][i] is None or np.isnan(joint_efforts[0][i]):
if joint_efforts[0][i] is None or np.isnan(
self._articulation_view._backend_utils.to_numpy(joint_efforts[0][i])
):
joint_efforts[0][i] = 0
self._articulation_view.apply_action(
ArticulationActions(
Expand Down