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Fix exception during io_descriptors creation #5058

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Fix exception during io_descriptors creation #5058

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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,7 @@ Guidelines for modifications:
* Manuel Schweiger
* Masoud Moghani
* Mateo Guaman Castro
* Matteo Princisgh
* Maurice Rahme
* Michael Gussert
* Michael Lin
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14 changes: 7 additions & 7 deletions source/isaaclab/isaaclab/envs/utils/io_descriptors.py
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Expand Up @@ -358,25 +358,25 @@ def export_articulations_data(env: ManagerBasedEnv) -> dict[str, dict[str, list[
articulation_joint_data[articulation_name] = {}
articulation_joint_data[articulation_name]["joint_names"] = articulation.joint_names
articulation_joint_data[articulation_name]["default_joint_pos"] = (
articulation.data.default_joint_pos[0].detach().cpu().numpy().tolist()
wp.to_torch(articulation.data.default_joint_pos)[0].detach().cpu().numpy().tolist()
)
articulation_joint_data[articulation_name]["default_joint_vel"] = (
articulation.data.default_joint_vel[0].detach().cpu().numpy().tolist()
wp.to_torch(articulation.data.default_joint_vel)[0].detach().cpu().numpy().tolist()
)
articulation_joint_data[articulation_name]["default_joint_pos_limits"] = (
articulation.data.default_joint_pos_limits[0].detach().cpu().numpy().tolist()
wp.to_torch(articulation.data.default_joint_pos_limits)[0].detach().cpu().numpy().tolist()
)
articulation_joint_data[articulation_name]["default_joint_damping"] = (
articulation.data.joint_damping[0].detach().cpu().numpy().tolist()
wp.to_torch(articulation.data.joint_damping)[0].detach().cpu().numpy().tolist()
)
articulation_joint_data[articulation_name]["default_joint_stiffness"] = (
articulation.data.joint_stiffness[0].detach().cpu().numpy().tolist()
wp.to_torch(articulation.data.joint_stiffness)[0].detach().cpu().numpy().tolist()
)
articulation_joint_data[articulation_name]["default_joint_friction"] = (
articulation.data.joint_friction_coeff[0].detach().cpu().numpy().tolist()
wp.to_torch(articulation.data.joint_friction_coeff)[0].detach().cpu().numpy().tolist()
)
articulation_joint_data[articulation_name]["default_joint_armature"] = (
articulation.data.joint_armature[0].detach().cpu().numpy().tolist()
wp.to_torch(articulation.data.joint_armature)[0].detach().cpu().numpy().tolist()
)
return articulation_joint_data

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