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Adds joint effort observation #2211

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Adds joint effort observation #2211

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0036fed
add joint effort
jtigue-bdai Apr 1, 2025
efe3595
changelog
jtigue-bdai Apr 1, 2025
b9acb9f
Merge branch 'main' into jat/feat/joint_effort_obs
jtigue-bdai Apr 2, 2025
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2 changes: 1 addition & 1 deletion source/isaaclab/config/extension.toml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
[package]

# Note: Semantic Versioning is used: https://semver.org/
version = "0.36.3"
version = "0.37.0"

# Description
title = "Isaac Lab framework for Robot Learning"
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9 changes: 9 additions & 0 deletions source/isaaclab/docs/CHANGELOG.rst
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@@ -1,6 +1,15 @@
Changelog
---------

0.37.0 (2025-04-01)
~~~~~~~~~~~~~~~~~~

Added
~~~~~

* Added the :meth:`~isaaclab.env.mdp.observations.joint_effort`


0.36.4 (2025-03-24)
~~~~~~~~~~~~~~~~~~~

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17 changes: 17 additions & 0 deletions source/isaaclab/isaaclab/envs/mdp/observations.py
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Expand Up @@ -157,6 +157,23 @@ def joint_vel_rel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityC
return asset.data.joint_vel[:, asset_cfg.joint_ids] - asset.data.default_joint_vel[:, asset_cfg.joint_ids]


def joint_effort(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
"""The joint applied effort of the robot.

NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their effort returned.

Args:
env: The environment.
asset_cfg: The SceneEntity associated with this observation.

Returns:
The joint effort (N or N-m) for joint_names in asset_cfg, shape is [num_env,num_joints].
"""
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
return asset.data.applied_torque[:, asset_cfg.joint_ids]


"""
Sensors.
"""
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