From a6b9daf956f79145d887725f59fb73ff5de6872f Mon Sep 17 00:00:00 2001 From: Octi Zhang Date: Tue, 28 Oct 2025 10:45:52 -0700 Subject: [PATCH 1/2] fix indexing issue --- .../envs/mdp/actions/joint_actions_to_limits.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py index 2667f7e86a6..3bc1306d2ed 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py @@ -257,12 +257,12 @@ def IO_descriptor(self) -> GenericActionIODescriptor: def reset(self, env_ids: Sequence[int] | None = None) -> None: # check if specific environment ids are provided if env_ids is None: - env_ids = slice(None) + super().reset(slice(None)) + self._prev_applied_actions[:] = self._asset.data.joint_pos[:, self._joint_ids] else: - env_ids = env_ids[:, None] - super().reset(env_ids) - # reset history to current joint positions - self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids, self._joint_ids] + super().reset(env_ids) + curr_applied_actions = self._asset.data.joint_pos[env_ids[:, None], self._joint_ids].view(len(env_ids), -1) + self._prev_applied_actions[env_ids, :] = curr_applied_actions def process_actions(self, actions: torch.Tensor): # apply affine transformations From e1f95a3e8939e1ea296afc463d6a5906dd640367 Mon Sep 17 00:00:00 2001 From: Octi Zhang Date: Tue, 28 Oct 2025 10:49:29 -0700 Subject: [PATCH 2/2] update changelog --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 10 ++++++++++ 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index cbc2de67560..818bd291aaf 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.47.2" +version = "0.47.3" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index 38834c3624d..f8fa62296f4 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,16 @@ Changelog --------- +0.47.3 (2025-10-28) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Fixed advanced indexing issue in resetting prev action + in :class:`~isaaclab.envs.mdp.actions.JointPositionToLimitsAction` . + + 0.47.2 (2025-10-22) ~~~~~~~~~~~~~~~~~~~