Fixes missing ray_cast_drift in RayCasterCamera (#2901)

# Description

Fixes missing  `ray_cast_drift` in `RayCasterCamera`

Fixes #2891 

## Type of change

- 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`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] 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: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Author: pascal-roth

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.18"
+version = "0.40.19"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.40.19 (2025-07-11)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed missing attribute in :class:`~isaaclab.sensors.ray_caster.RayCasterCamera` class and its reset method when no
+  env_ids are passed.
+
+
 0.40.18 (2025-07-09)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py

@@ -110,11 +110,14 @@ def reset(self, env_ids: Sequence[int] | None = None):
         # resolve None
         if env_ids is None:
             env_ids = slice(None)
+            num_envs_ids = self._view.count
+        else:
+            num_envs_ids = len(env_ids)
         # resample the drift
-        r = torch.empty(len(env_ids), 3, device=self.device)
+        r = torch.empty(num_envs_ids, 3, device=self.device)
         self.drift[env_ids] = r.uniform_(*self.cfg.drift_range)
         # resample the height drift
-        r = torch.empty(len(env_ids), device=self.device)
+        r = torch.empty(num_envs_ids, device=self.device)
         self.ray_cast_drift[env_ids, 0] = r.uniform_(*self.cfg.ray_cast_drift_range["x"])
         self.ray_cast_drift[env_ids, 1] = r.uniform_(*self.cfg.ray_cast_drift_range["y"])
         self.ray_cast_drift[env_ids, 2] = r.uniform_(*self.cfg.ray_cast_drift_range["z"])

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py

@@ -345,6 +345,7 @@ def _create_buffers(self):
         """Create buffers for storing data."""
         # prepare drift
         self.drift = torch.zeros(self._view.count, 3, device=self.device)
+        self.ray_cast_drift = torch.zeros(self._view.count, 3, device=self.device)
         # create the data object
         # -- pose of the cameras
         self._data.pos_w = torch.zeros((self._view.count, 3), device=self._device)
@@ -400,6 +401,8 @@ def _compute_view_world_poses(self, env_ids: Sequence[int]) -> tuple[torch.Tenso
         # obtain the poses of the sensors
         # note: clone arg doesn't exist for xform prim view so we need to do this manually
         if isinstance(self._view, XFormPrim):
+            if isinstance(env_ids, slice):  # catch the case where env_ids is a slice
+                env_ids = self._ALL_INDICES
             pos_w, quat_w = self._view.get_world_poses(env_ids)
         elif isinstance(self._view, physx.ArticulationView):
             pos_w, quat_w = self._view.get_root_transforms()[env_ids].split([3, 4], dim=-1)

source/isaaclab/test/sensors/test_ray_caster_camera.py

@@ -125,6 +125,16 @@ def test_camera_init(setup_sim):
         for im_data in camera.data.output.values():
             assert im_data.shape == (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1)
 
+    # check the camera reset
+    camera.reset()
+    assert torch.all(camera.frame == 0)
+    # Simulate physics
+    for _ in range(10):
+        sim.step()
+        camera.update(dt)
+    camera.reset(env_ids=[0])
+    assert camera.frame[0] == 0
+
 
 def test_camera_resolution(setup_sim):
     """Test camera resolution is correctly set."""