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Fix reset broadcasting error when some joints are disabled #3754

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Fix reset broadcasting error when some joints are disabled #3754

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Fixes indexing in EMAJointPositionToLimitsAction reset method, which …
Yasu31 Oct 17, 2025
46636b5
add myself as contributor
Yasu31 Oct 17, 2025
0562ab4
Merge branch 'main' into joint-disable-fix-error
Yasu31 Oct 20, 2025
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,7 @@ Guidelines for modifications:
* Xinpeng Liu
* Yang Jin
* Yanzi Zhu
* Yasunori Toshimitsu
* Yijie Guo
* Yohan Choi
* Yujian Zhang
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
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Expand Up @@ -262,7 +262,7 @@ def reset(self, env_ids: Sequence[int] | None = None) -> None:
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]
self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids][:, :, self._joint_ids]

def process_actions(self, actions: torch.Tensor):
# apply affine transformations
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