Fixes bug in RobotBase and GripperActuatorGroup (#52)

* fixes the feet air time in `LeggedRobot` class
* fixes set joint efforts on reset in `RobotBase` class
* fix gripper mimic duplication in `GripperActuatorGroup` class
* updates version and changelog

source/extensions/omni.isaac.orbit/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.2.6"
+version = "0.2.7"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.2.7 (2023-04-07)
+
+Fixed
+^^^^^
+
+* Fixed repetition in applying mimic multiplier for "p_abs" in the :class:`GripperActuatorGroup` class.
+* Fixed bugs in :meth:`reset_buffers` in the :class:`RobotBase` and :class:`LeggedRobot` classes.
+
 0.2.6 (2023-03-16)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/group/gripper_group.py

@@ -144,7 +144,6 @@ class GripperActuatorGroup(ActuatorGroup):
         else:
             # compute new command
             dof_pos_targets = torch.where(command >= 0, self._open_dof_pos, self._close_dof_pos)
-            dof_pos_targets = dof_pos_targets * self._mimic_multiplier
             # store new command
             self._previous_dof_targets[:] = dof_pos_targets
             # return command

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/legged_robot/legged_robot.py

@@ -100,9 +100,12 @@ class LeggedRobot(RobotBase):
     def reset_buffers(self, env_ids: Optional[Sequence[int]] = None):
         # reset parent buffers
         super().reset_buffers(env_ids)
+        # use ellipses object to skip initial indices.
+        if env_ids is None:
+            env_ids = ...
         # reset timers
-        self._ongoing_feet_air_time[:] = 0.0
-        self._data.feet_air_time[:] = 0.0
+        self._ongoing_feet_air_time[env_ids] = 0.0
+        self._data.feet_air_time[env_ids] = 0.0
 
     def update_buffers(self, dt: float):
         # update parent buffers

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/robot_base.py

@@ -192,7 +192,7 @@ class RobotBase:
         # reset history
         self._previous_dof_vel[env_ids] = 0
         # TODO: Reset other cached variables.
-        self.articulations.set_joint_efforts(self._ZERO_JOINT_EFFORT, indices=self._ALL_INDICES)
+        self.articulations.set_joint_efforts(self._ZERO_JOINT_EFFORT[env_ids], indices=env_ids)
         # reset actuators
         for group in self.actuator_groups.values():
             group.reset(env_ids)