[Bug Report] joint_effort_out_of_limit flags non-violations #3155
Description
Describe the bug
isaaclab/envs/mdp/terminations.py::joint_effort_out_of_limit uses:
out_of_limits = torch.isclose(
asset.data.computed_torque[:, asset_cfg.joint_ids],
asset.data.applied_torque[:, asset_cfg.joint_ids],
)
return torch.any(out_of_limits, dim=1)This logic is inverted. If no clipping occurs, computed == applied and the function wrongly returns True. If clipping occurs (i.e., torques exceed limits), computed != applied and the function wrongly returns False.
Steps to reproduce
Minimal repro illustrating the truth table:
from isaaclab.managers import SceneEntityCfg
from isaaclab.envs.mdp.terminations import joint_effort_out_of_limit
env = ... # any ManagerBasedRLEnv with an Articulation named "robot"
cfg = SceneEntityCfg(name="robot", joint_ids=[0]) # single joint for clarity
art = env.scene["robot"]
# Case A: no clipping (should be False but returns True now)
art.data.computed_torque[:] = 0.0
art.data.applied_torque[:] = 0.0
assert joint_effort_out_of_limit(env, cfg).item() is False # CURRENT: True (bug)
# Case B: clipping (should be True but returns False now)
art.data.computed_torque[:] = 100.0
art.data.applied_torque[:] = 50.0 # pretend actuator clipped to ±50
assert joint_effort_out_of_limit(env, cfg).item() is True # CURRENT: False (bug)System Info
Commit: b5d094e (branch: feature/isaacsim_5_0)
Isaac Sim Version: 5.0
OS: Ubuntu 22.04
GPU: RTX 5080
CUDA: 12.8
GPU Driver: 570.144
Additional context
Option 1: detect clipping via inequality
comp = asset.data.computed_torque[:, asset_cfg.joint_ids]
appl = asset.data.applied_torque[:, asset_cfg.joint_ids]
clipped = ~torch.isclose(comp, appl)
return clipped.any(dim=1)Option 2: compare against effort limits when available
comp = asset.data.computed_torque[:, asset_cfg.joint_ids]
lims = asset.data.soft_joint_effort_limits[:, asset_cfg.joint_ids] # shape [N,K]
viol = torch.abs(comp) > lims
return viol.any(dim=1)Checklist
- I have checked that there is no similar issue in the repo (required)
- I have checked that the issue is not in running Isaac Sim itself and is related to the repo
Acceptance Criteria
- Predicate corrected so non-clipped torques do not trigger termination and clipped torques do.
- Unit tests for both “no-clip” and “clip” cases, and for presence/absence of soft_joint_effort_limits.
- Docstring documenting the corrected logic.