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Fixes advanced indexing shape mismatch when resetting prev_action isaaclab.envs.mdp.actions.JointPositionToLimitsAction #3865

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Fixes advanced indexing shape mismatch when resetting prev_action isaaclab.envs.mdp.actions.JointPositionToLimitsAction #3865

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a6b9daf
fix indexing issue
ooctipus Oct 28, 2025
e1f95a3
update changelog
ooctipus Oct 28, 2025
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2 changes: 1 addition & 1 deletion source/isaaclab/config/extension.toml
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Original file line number Diff line number Diff line change
@@ -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"
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10 changes: 10 additions & 0 deletions source/isaaclab/docs/CHANGELOG.rst
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@@ -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)
~~~~~~~~~~~~~~~~~~~

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10 changes: 5 additions & 5 deletions source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
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Expand Up @@ -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
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