formatting

Author: moribots

source/isaaclab/test/assets/test_articulation.py

@@ -29,10 +29,10 @@
 import isaaclab.utils.string as string_utils
 from isaaclab.actuators import ActuatorBase, IdealPDActuatorCfg, ImplicitActuatorCfg
 from isaaclab.assets import Articulation, ArticulationCfg
+from isaaclab.envs.mdp.terminations import joint_pos_out_of_limit
+from isaaclab.managers import SceneEntityCfg
 from isaaclab.sim import build_simulation_context
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.managers import SceneEntityCfg
-from isaaclab.envs.mdp.terminations import joint_pos_out_of_limit
 
 ##
 # Pre-defined configs
@@ -659,7 +659,16 @@ def test_out_of_range_default_joint_vel(sim, device):
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
 def test_joint_pos_limits(sim, num_articulations, device, add_ground_plane):
-    """Test write_joint_limits_to_sim API and validate limits via joint_pos_out_of_limit()."""
+    """Test write_joint_limits_to_sim API and when default pos falls outside of the new limits.
+    This test verifies that:
+    1. Joint limits can be set correctly
+    2. Default positions are preserved when setting new limits
+    3. Joint limits can be set with indexing
+    4. Invalid joint positions are properly handled
+    Args:
+        sim: The simulation fixture
+        num_articulations: Number of articulations to test
+    """
     # Create articulation
     articulation_cfg = generate_articulation_cfg(articulation_type="panda")
     articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
@@ -674,6 +683,7 @@ def __init__(self, art):
 
     # Play sim
     sim.reset()
+    # Check if articulation is initialized
     assert articulation.is_initialized
 
     # Get current default joint pos
@@ -689,6 +699,7 @@ def __init__(self, art):
     torch.testing.assert_close(articulation._data.joint_pos_limits, limits)
     torch.testing.assert_close(articulation._data.default_joint_pos, default_joint_pos)
 
+    # Set new joint limits that invalidate default joint pos
     # Validate via function: no joint should be out of limits
     out = joint_pos_out_of_limit(env, robot_all)  # [N]
     assert torch.all(~out)
@@ -731,6 +742,39 @@ def __init__(self, art):
     assert torch.all(~out)
 
 
+@pytest.mark.parametrize("num_articulations", [1, 2])
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.parametrize("add_ground_plane", [True])
+def test_joint_effort_limits(sim, num_articulations, device, add_ground_plane):
+    """Validate joint effort limits via joint_effort_out_of_limit()."""
+    # Create articulation
+    articulation_cfg = generate_articulation_cfg(articulation_type="panda")
+    articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+    # Minimal env wrapper exposing scene["robot"]
+    class _Env:
+        def __init__(self, art):
+            self.scene = {"robot": art}
+
+    env = _Env(articulation)
+    robot_all = SceneEntityCfg(name="robot")
+
+    sim.reset()
+    assert articulation.is_initialized
+
+    # Case A: no clipping → should NOT terminate
+    articulation._data.computed_torque.zero_()
+    articulation._data.applied_torque.zero_()
+    out = joint_effort_out_of_limit(env, robot_all)  # [N]
+    assert torch.all(~out)
+
+    # Case B: simulate clipping → should terminate
+    articulation._data.computed_torque.fill_(100.0)  # pretend controller commanded 100
+    articulation._data.applied_torque.fill_(50.0)  # pretend actuator clipped to ±50
+    out = joint_effort_out_of_limit(env, robot_all)  # [N]
+    assert torch.all(out)
+
+
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 def test_external_force_buffer(sim, num_articulations, device):