How to Perform Physics Step Only for Specific env_ids During Reset in a Manager-Based RL Environment?

[right-chan]

I am creating a custom environment using a manager-based RL environment in IsaacLab.
During the reset process, I need to reset only specific env_ids instead of all environments.
However, in my case, I also need to perform physical interactions (such as contacts) during the reset, which requires calling env.sim.step().

The issue is that calling env.sim.step() seems to affect not only the environments being reset but also those that do not require a reset.
Given that not all environments are reset simultaneously, is there a way to perform physics stepping only for the specific env_ids that need a reset, without influencing the others?

Additionally, I was considering storing the state of the environments that are not being reset, and then restoring them after env.sim.step() is called for the resetting environments. When would be the right time to restore the state? Also, would restoring the state require calling env.sim.step() again?

Any insights or recommended approaches would be greatly appreciated!

[RandomOakForest]

Thanks for posting this. Currently, we can only reset all the environments at once.