Fix reset_joints_by_scale and reset_joints_by_offsets to only affect the joint specified by user

Author: ooctipus

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.12"
+version = "0.40.13"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.40.13 (2025-07-07)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :meth:`isaaclab.envs.mdp.events.reset_joints_by_scale`, :meth:`isaaclab.envs.mdp.events.reset_joints_by_offsets`
+restricting the resetting joint indices be that user defined joint indices.
+
+
+
 0.40.12 (2025-07-03)
 ~~~~~~~~~~~~~~~~~~~~
 

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

@@ -1040,22 +1040,22 @@ def reset_joints_by_scale(
     # extract the used quantities (to enable type-hinting)
     asset: Articulation = env.scene[asset_cfg.name]
     # get default joint state
-    joint_pos = asset.data.default_joint_pos[env_ids].clone()
-    joint_vel = asset.data.default_joint_vel[env_ids].clone()
+    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()
 
     # 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]
+    joint_pos_limits = asset.data.soft_joint_pos_limits[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]
+    joint_vel_limits = asset.data.soft_joint_vel_limits[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, joint_vel, env_ids=env_ids)
+    asset.write_joint_state_to_sim(joint_pos, joint_vel, env_ids=env_ids, joint_ids=asset_cfg.joint_ids)
 
 
 def reset_joints_by_offset(
@@ -1074,22 +1074,22 @@ def reset_joints_by_offset(
     asset: Articulation = env.scene[asset_cfg.name]
 
     # get default joint state
-    joint_pos = asset.data.default_joint_pos[env_ids].clone()
-    joint_vel = asset.data.default_joint_vel[env_ids].clone()
+    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()
 
     # 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]
+    joint_pos_limits = asset.data.soft_joint_pos_limits[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]
+    joint_vel_limits = asset.data.soft_joint_vel_limits[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, joint_vel, env_ids=env_ids)
+    asset.write_joint_state_to_sim(joint_pos, joint_vel, env_ids=env_ids, joint_ids=asset_cfg.joint_ids)
 
 
 def reset_nodal_state_uniform(