| # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). | |
| # All rights reserved. | |
| # | |
| # SPDX-License-Identifier: BSD-3-Clause | |
| from __future__ import annotations | |
| from typing import TYPE_CHECKING | |
| import torch | |
| from isaaclab.assets import Articulation | |
| from isaaclab.managers import SceneEntityCfg | |
| from isaaclab.utils.math import wrap_to_pi | |
| if TYPE_CHECKING: | |
| from isaaclab.envs import ManagerBasedRLEnv | |
| def joint_pos_target_l2(env: ManagerBasedRLEnv, target: float, asset_cfg: SceneEntityCfg) -> torch.Tensor: | |
| """Penalize joint position deviation from a target value.""" | |
| # extract the used quantities (to enable type-hinting) | |
| asset: Articulation = env.scene[asset_cfg.name] | |
| # wrap the joint positions to (-pi, pi) | |
| joint_pos = wrap_to_pi(asset.data.joint_pos[:, asset_cfg.joint_ids]) | |
| # compute the reward | |
| return torch.sum(torch.square(joint_pos - target), dim=1) | |