Fixes IndexError in reset_joints_by_scale and reset_joints_by_offset (isaac-sim#2949)

# Description

Fixes the IndexError caused by simultaneously indexing env_ids and
joint_ids in `reset_joints_by_scale` and `reset_joints_by_offset`.

Fixes # [2948](isaac-sim#2948)

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Emily Sturman <emily@sturman.org>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

Author: 4 people

CONTRIBUTORS.md

@@ -59,6 +59,7 @@ Guidelines for modifications:
 * David Yang
 * Dhananjay Shendre
 * Dorsa Rohani
+* Emily Sturman
 * Fabian Jenelten
 * Felipe Mohr
 * Felix Yu

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.44.12 (2025-08-12)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed IndexError in :meth:`isaaclab.envs.mdp.events.reset_joints_by_scale`,
+  :meth:`isaaclab.envs.mdp.events.reset_joints_by_offsets` by adding dimension to env_ids when indexing.
+
+
 0.44.11 (2025-08-11)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -1041,28 +1041,30 @@ def reset_joints_by_scale(
     """
     # extract the used quantities (to enable type-hinting)
     asset: Articulation = env.scene[asset_cfg.name]
+
+    # cast env_ids to allow broadcasting
+    if asset_cfg.joint_ids != slice(None):
+        iter_env_ids = env_ids[:, None]
+    else:
+        iter_env_ids = env_ids
+
     # get default joint state
-    joint_pos = asset.data.default_joint_pos[env_ids, asset_cfg.joint_ids].clone()
-    joint_vel = asset.data.default_joint_vel[env_ids, asset_cfg.joint_ids].clone()
+    joint_pos = asset.data.default_joint_pos[iter_env_ids, asset_cfg.joint_ids].clone()
+    joint_vel = asset.data.default_joint_vel[iter_env_ids, asset_cfg.joint_ids].clone()
 
     # scale these values randomly
     joint_pos *= math_utils.sample_uniform(*position_range, joint_pos.shape, joint_pos.device)
     joint_vel *= math_utils.sample_uniform(*velocity_range, joint_vel.shape, joint_vel.device)
 
     # clamp joint pos to limits
-    joint_pos_limits = asset.data.soft_joint_pos_limits[env_ids, asset_cfg.joint_ids]
+    joint_pos_limits = asset.data.soft_joint_pos_limits[iter_env_ids, asset_cfg.joint_ids]
     joint_pos = joint_pos.clamp_(joint_pos_limits[..., 0], joint_pos_limits[..., 1])
     # clamp joint vel to limits
-    joint_vel_limits = asset.data.soft_joint_vel_limits[env_ids, asset_cfg.joint_ids]
+    joint_vel_limits = asset.data.soft_joint_vel_limits[iter_env_ids, asset_cfg.joint_ids]
     joint_vel = joint_vel.clamp_(-joint_vel_limits, joint_vel_limits)
 
     # set into the physics simulation
-    asset.write_joint_state_to_sim(
-        joint_pos.view(len(env_ids), -1),
-        joint_vel.view(len(env_ids), -1),
-        env_ids=env_ids,
-        joint_ids=asset_cfg.joint_ids,
-    )
+    asset.write_joint_state_to_sim(joint_pos, joint_vel, joint_ids=asset_cfg.joint_ids, env_ids=env_ids)
 
 
 def reset_joints_by_offset(
@@ -1080,28 +1082,29 @@ def reset_joints_by_offset(
     # extract the used quantities (to enable type-hinting)
     asset: Articulation = env.scene[asset_cfg.name]
 
+    # cast env_ids to allow broadcasting
+    if asset_cfg.joint_ids != slice(None):
+        iter_env_ids = env_ids[:, None]
+    else:
+        iter_env_ids = env_ids
+
     # get default joint state
-    joint_pos = asset.data.default_joint_pos[env_ids, asset_cfg.joint_ids].clone()
-    joint_vel = asset.data.default_joint_vel[env_ids, asset_cfg.joint_ids].clone()
+    joint_pos = asset.data.default_joint_pos[iter_env_ids, asset_cfg.joint_ids].clone()
+    joint_vel = asset.data.default_joint_vel[iter_env_ids, asset_cfg.joint_ids].clone()
 
     # bias these values randomly
     joint_pos += math_utils.sample_uniform(*position_range, joint_pos.shape, joint_pos.device)
     joint_vel += math_utils.sample_uniform(*velocity_range, joint_vel.shape, joint_vel.device)
 
     # clamp joint pos to limits
-    joint_pos_limits = asset.data.soft_joint_pos_limits[env_ids, asset_cfg.joint_ids]
+    joint_pos_limits = asset.data.soft_joint_pos_limits[iter_env_ids, asset_cfg.joint_ids]
     joint_pos = joint_pos.clamp_(joint_pos_limits[..., 0], joint_pos_limits[..., 1])
     # clamp joint vel to limits
-    joint_vel_limits = asset.data.soft_joint_vel_limits[env_ids, asset_cfg.joint_ids]
+    joint_vel_limits = asset.data.soft_joint_vel_limits[iter_env_ids, asset_cfg.joint_ids]
     joint_vel = joint_vel.clamp_(-joint_vel_limits, joint_vel_limits)
 
     # set into the physics simulation
-    asset.write_joint_state_to_sim(
-        joint_pos.view(len(env_ids), -1),
-        joint_vel.view(len(env_ids), -1),
-        env_ids=env_ids,
-        joint_ids=asset_cfg.joint_ids,
-    )
+    asset.write_joint_state_to_sim(joint_pos, joint_vel, joint_ids=asset_cfg.joint_ids, env_ids=env_ids)
 
 
 def reset_nodal_state_uniform(