Updates warning logging when writing joint limits (#252)

In `omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim`, we
previously added a check for if default joint positions exceed the new
limits being set. When this is True, we log a warning message to
indicate that the default joint positions will be clipped to be within
the range of the new limits. However, the warning message can become
overly verbose in a randomization setting where this API is called on
every environment reset. We now default to only writing the message to
info level logging if called within randomization, and expose a
parameter that can be used to choose the logging level desired.

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- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

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- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
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extension's `config/extension.toml` file
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source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.33.10"
+version = "0.33.11"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.33.10 (2025-01-30)
+0.33.11 (2025-01-30)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -12,6 +12,15 @@ Fixed
   to the event being triggered at the wrong time after the reset.
 
 
+0.33.10 (2025-01-22)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* In :meth:`omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim`, we previously added a check for if default joint positions exceed the new limits being set. When this is True, we log a warning message to indicate that the default joint positions will be clipped to be within the range of the new limits. However, the warning message can become overly verbose in a randomization setting where this API is called on every environment reset. We now default to only writing the message to info level logging if called within randomization, and expose a parameter that can be used to choose the logging level desired.
+
+
 0.33.9 (2025-01-22)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/assets/articulation/articulation.py

@@ -692,6 +692,7 @@ class Articulation(AssetBase):
         limits: torch.Tensor | float,
         joint_ids: Sequence[int] | slice | None = None,
         env_ids: Sequence[int] | None = None,
+        warn_limit_violation: bool = True,
     ):
         """Write joint limits into the simulation.
 
@@ -699,6 +700,7 @@ class Articulation(AssetBase):
             limits: Joint limits. Shape is (len(env_ids), len(joint_ids), 2).
             joint_ids: The joint indices to set the limits for. Defaults to None (all joints).
             env_ids: The environment indices to set the limits for. Defaults to None (all environments).
+            warn_limit_violation: Whether to use warning or info level logging when default joint positions exceed the new limits. Defaults to True.
         """
         # note: This function isn't setting the values for actuator models. (#128)
         # resolve indices
@@ -721,10 +723,16 @@ class Articulation(AssetBase):
             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(
+            violation_message = (
                 "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."
             )
+            if warn_limit_violation:
+                # warn level will show in console
+                omni.log.warn(violation_message)
+            else:
+                # info level is only written to log file
+                omni.log.info(violation_message)
         # set into simulation
         self.root_physx_view.set_dof_limits(self._data.joint_limits.cpu(), indices=physx_env_ids.cpu())
 

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -436,7 +436,9 @@ def randomize_joint_parameters(
                 " upper joint limits."
             )
 
-        asset.write_joint_limits_to_sim(dof_limits[env_ids][:, joint_ids], joint_ids=joint_ids, env_ids=env_ids)
+        asset.write_joint_limits_to_sim(
+            dof_limits[env_ids][:, joint_ids], joint_ids=joint_ids, env_ids=env_ids, warn_limit_violation=False
+        )
 
 
 def randomize_fixed_tendon_parameters(