[Bug Report] Indexing error in reset_joints_by_offset

[Creampelt]

Describe the bug

Calling reset_joints_by_offset causes the following error:

IndexError: shape mismatch: indexing tensors could not be broadcast together with shapes [4096], [28]

Seems to be caused by this PR, so this likely applies to reset_joints_by_scale as well.

Steps to reproduce

To reproduce, add an event term to your task's EventsCfg that calls reset_joints_by_offset:

reset_joints = EventTerm(
      func=mdp.reset_joints_by_offset,
      mode="reset",
      params={
          "asset_cfg": SceneEntityCfg("robot", joint_names=["<joint names>"]),
          "position_range": (-0.05, 0.05),
          "velocity_range": (-1.0, 1.0),
      },
  )

Full stack trace:

Traceback (most recent call last):
  File "/workspace/isaaclab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main
    func(env_cfg, agent_cfg, *args, **kwargs)
  File "/workspace/isaaclab/source/hcrl_isaaclab/scripts/train.py", line 159, in main
    env = RslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions)  # type: ignore
  File "/workspace/isaaclab/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py", line 85, in __init__
    self.env.reset()
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/gymnasium/wrappers/common.py", line 400, in reset
    return super().reset(seed=seed, options=options)
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/gymnasium/core.py", line 333, in reset
    return self.env.reset(seed=seed, options=options)
  File "/workspace/isaaclab/source/isaaclab/isaaclab/envs/manager_based_env.py", line 295, in reset
    self._reset_idx(env_ids)
  File "/workspace/isaaclab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 361, in _reset_idx
    self.event_manager.apply(mode="reset", env_ids=env_ids, global_env_step_count=env_step_count)
  File "/workspace/isaaclab/source/isaaclab/isaaclab/managers/event_manager.py", line 244, in apply
    term_cfg.func(self._env, env_ids, **term_cfg.params)
  File "/workspace/isaaclab/source/isaaclab/isaaclab/envs/mdp/events.py", line 1082, in reset_joints_by_offset
    joint_pos = asset.data.default_joint_pos[env_ids, asset_cfg.joint_ids].clone()
IndexError: shape mismatch: indexing tensors could not be broadcast together with shapes [4096], [28]

System Info

• Commit: f22b5eb
• Isaac Sim Version: 4.5.0-rc.36
• OS: Ubuntu 22.04
• GPU: RTX 4090
• CUDA: 12.9
• GPU Driver: 575.57.08

Additional context

N/A

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

• reset_joints_by_offset no longer raises error, but still indexes the correct envs and joints.

[ooctipus]

Ahhh Good Catch!

[RandomOakForest]

Thank you for posting this. The team will review.