Randomizes viscous and dynamic joint friction based on IsaacSim 5.0

[GiulioRomualdi]

Description

This PR fixes #3266, adding the possibility to randomize the friction coefficient when isaacsim is higher than 5.0.0

Type of change

• New feature (non-breaking change which adds functionality)

Screenshots

Not applicable

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[jtigue-bdai]

Thanks for the additions. Can you add to this test?

IsaacLab/source/isaaclab/test/assets/test_articulation.py

Line 1981 in 7ee6d2a

def test_write_joint_frictions_to_sim(sim, num_articulations, device, add_ground_plane):

And can you update:
Extension version

IsaacLab/source/isaaclab/config/extension.toml

Line 4 in 7ee6d2a

version = "0.45.15"

Change log

IsaacLab/source/isaaclab/docs/CHANGELOG.rst

Line 1 in 7ee6d2a

Changelog

[GiulioRomualdi]

Thanks for the additions. Can you add to this test?

IsaacLab/source/isaaclab/test/assets/test_articulation.py

Line 1981 in 7ee6d2a

def test_write_joint_frictions_to_sim(sim, num_articulations, device, add_ground_plane):

And can you update: Extension version

IsaacLab/source/isaaclab/config/extension.toml

Line 4 in 7ee6d2a

version = "0.45.15"

Change log

IsaacLab/source/isaaclab/docs/CHANGELOG.rst

Line 1 in 7ee6d2a

Changelog

Hi @jtigue-bdai! You are welcome!!

18f3a32 implements the test
bb275bf bump the version

[GiulioRomualdi]

Build and Test / test-general seems failing but I'm not able to find the error, could you please pointing me the correct file I should check?

[GiulioRomualdi]

bfafb24 fixes the formatting that was causing an issue in the CI

[jtigue-bdai]

LGTM