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Fixes joint out of position limits terminations #2442

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Fixes joint out of position limits terminations #2442

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37 changes: 24 additions & 13 deletions source/isaaclab/isaaclab/envs/mdp/terminations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,13 +78,23 @@ def root_height_below_minimum(


def joint_pos_out_of_limit(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
"""Terminate when the asset's joint positions are outside of the soft joint limits."""
# extract the used quantities (to enable type-hinting)
"""
Return a boolean tensor of shape `[num_envs]`:
`True` if *any* of the (optionally selected) joints in an env are
outside their soft joint‑position limits.
"""
asset: Articulation = env.scene[asset_cfg.name]
# compute any violations
out_of_upper_limits = torch.any(asset.data.joint_pos > asset.data.soft_joint_pos_limits[..., 1], dim=1)
out_of_lower_limits = torch.any(asset.data.joint_pos < asset.data.soft_joint_pos_limits[..., 0], dim=1)
return torch.logical_or(out_of_upper_limits[:, asset_cfg.joint_ids], out_of_lower_limits[:, asset_cfg.joint_ids])

# Per‑env‑per‑joint mask of violations
joint_pos = asset.data.joint_pos # [N_envs, N_joints]
joint_lower = asset.data.soft_joint_pos_limits[..., 0]
joint_upper = asset.data.soft_joint_pos_limits[..., 1]
violations = (joint_pos < joint_lower) | (joint_pos > joint_upper)

joint_ids = asset_cfg.joint_ids if asset_cfg.joint_ids is not None else slice(None)
Comment on lines +88 to +94
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Isn't it simpler to do it this way?

if asset_cfg.joint_ids is None:
   asset_cfg.joint_ids = slice(None)

limits = asset.data.soft_joint_pos_limits[:, asset_cfg.joint_ids]
out_of_upper_limits = torch.any(asset.data.joint_pos[:, asset_cfg.joint_ids] > limits[..., 1], dim=1)
out_of_lower_limits = torch.any(asset.data.joint_pos[:, asset_cfg.joint_ids] < limits[..., 0], dim=1)
return torch.logical_or(out_of_upper_limits, out_of_lower_limits)


# Reduce over *selected* joints → [N_envs]
return torch.any(violations[:, joint_ids], dim=1)


def joint_pos_out_of_manual_limit(
Expand All @@ -95,14 +105,15 @@ def joint_pos_out_of_manual_limit(
Note:
This function is similar to :func:`joint_pos_out_of_limit` but allows the user to specify the bounds manually.
"""
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
if asset_cfg.joint_ids is None:
asset_cfg.joint_ids = slice(None)
# compute any violations
out_of_upper_limits = torch.any(asset.data.joint_pos[:, asset_cfg.joint_ids] > bounds[1], dim=1)
out_of_lower_limits = torch.any(asset.data.joint_pos[:, asset_cfg.joint_ids] < bounds[0], dim=1)
Comment on lines -103 to -104
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Here the implementation is correct since it is only operating over subset of joints.

return torch.logical_or(out_of_upper_limits, out_of_lower_limits)

joint_ids = asset_cfg.joint_ids if asset_cfg.joint_ids is not None else slice(None)
joint_pos = asset.data.joint_pos[:, joint_ids] # [N_envs, N_selected]

violations = (joint_pos < bounds[0]) | (joint_pos > bounds[1])

# Reduce over joints → [N_envs]
return torch.any(violations, dim=1)


def joint_vel_out_of_limit(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
Expand Down