Extract generalized force targets from high-level model

ami-iit · Jun 9, 2023 · 706f5d2 · 706f5d2
1 parent 7d33e05
commit 706f5d2
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/src/jaxsim/high_level/model.py b/src/jaxsim/high_level/model.py
@@ -476,6 +476,14 @@ def joint_velocities(self, joint_names: List[str] = None) -> jtp.Vector:
             self._joint_indices(joint_names=joint_names)
         ]
 
+    def joint_generalized_forces_targets(
+        self, joint_names: List[str] = None
+    ) -> jtp.Vector:
+        if self.dofs() == 0 and (joint_names is None or len(joint_names) == 0):
+            return jnp.array([])
+
+        return self.data.model_input.tau[self._joint_indices(joint_names=joint_names)]
+
     def joint_limits(
         self, joint_names: List[str] = None
     ) -> Tuple[jtp.Vector, jtp.Vector]: