Fixes setting of root velocities in the event term reset_root_state_from_terrain
#1884
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syundo0730
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Mayankm96
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reset_root_state_from_terrain
Mayankm96
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Minor comment. Thanks a lot for the fix!
Please rebase to main. There seem to be some merge conflicts.
reset_root_state_from_terraion
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: Shundo Kishi <syundo0730@gmail.com>
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Mayankm96
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…from_terrain` (#1884) # Description When reset_root_state_from_terrain is called from an EventTerm, we cannot predict which env_ids will be targeted. To prevent program crashes due to tensor size mismatches, this MR modifies the velocity calculation to use only the specified env_ids instead of referencing all environments. Changes: - Updated velocity calculation to use env_ids indexing for default_root_state - This ensures tensor dimensions match between default_root_state and rand_samples Fixes #1882 ## 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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
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…from_terrain` (isaac-sim#1884) # Description When reset_root_state_from_terrain is called from an EventTerm, we cannot predict which env_ids will be targeted. To prevent program crashes due to tensor size mismatches, this MR modifies the velocity calculation to use only the specified env_ids instead of referencing all environments. Changes: - Updated velocity calculation to use env_ids indexing for default_root_state - This ensures tensor dimensions match between default_root_state and rand_samples Fixes isaac-sim#1882 ## 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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
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Description
Fix tensor size mismatch in reset_root_state_from_terrain
When reset_root_state_from_terrain is called from an EventTerm, we cannot predict which env_ids will be targeted. To prevent program crashes due to tensor size mismatches, this MR modifies the velocity calculation to use only the specified env_ids instead of referencing all environments.
Changes:
Fixes #1882
Type of change
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there