Fixes isaaclab.scene.reset_to to properly accept None as valid argument #2970
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ooctipus
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kellyguo11
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kellyguo11
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Jul 18, 2025
| # resolve env_ids | ||
| if env_ids is None: | ||
| env_ids = slice(None) | ||
| env_ids = torch.arange(self.num_envs, device=self.device) |
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this could be expensive to initialize each time, should be keep a cached list like articulation's self._ALL_INDICES?
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maybe we can also update the typing for env_ids as reported by the user to only include torch.tensor, since I don't think passing in a list of int will work in this case.
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yeah ALL_INDICES will also work, though I think torch.arange(self.num_envs, device=self.device) is probably very cheap, a lot of our mdps (guarenteed to be called at once each step) do initialize it in context instead of caching. And reset_to isn't likly a function that is going to be called as frequently.
for the Sequence[Int], I can do it now for this one, but I am also feeling maybe we should discuss this with the team the and apply the change to all Sequence[Int] + adding the tests
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I think caching ALL_INDICES should be better, allocating new tensors on the GPU can be pretty expensive
and yes, we can deal with the typing separately and fix everything all together
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kellyguo11
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Mayankm96
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| ^^^^^ | ||
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| * Added :attr:`omni.isaac.lab.sensors.ContactSensorData.force_matrix_w_history` that tracks the history of the filtered contact forces in the world frame. | ||
| * Added :attr:`~isaaclab.sensors.ContactSensorData.force_matrix_w_history` that tracks the history of the filtered contact forces in the world frame. |
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the pr from previous person wrote omni.isaac.lab, I changed it to ~isaaclab in unrelated pr for, ummm, immediate convenience. If that is not good I can revert back. ahhaha
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…nt (isaac-sim#2970) # Description As reported by issue, isaaclab.scene.reset_to currently does not run well with env_id = None, even though None is one of its default values. This PR make sure it supports and and added tests that tensor input and None should both work well Fixes isaac-sim#2878 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## 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 - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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…nt (#2970) As reported by issue, isaaclab.scene.reset_to currently does not run well with env_id = None, even though None is one of its default values. This PR make sure it supports and and added tests that tensor input and None should both work well Fixes #2878 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> - [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 - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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…nt (isaac-sim#2970) # Description As reported by issue, isaaclab.scene.reset_to currently does not run well with env_id = None, even though None is one of its default values. This PR make sure it supports and and added tests that tensor input and None should both work well Fixes isaac-sim#2878 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## 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 - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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…nt (isaac-sim#2970) As reported by issue, isaaclab.scene.reset_to currently does not run well with env_id = None, even though None is one of its default values. This PR make sure it supports and and added tests that tensor input and None should both work well Fixes isaac-sim#2878 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> - [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 - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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Oct 24, 2025
…nt (isaac-sim#2970) # Description As reported by issue, isaaclab.scene.reset_to currently does not run well with env_id = None, even though None is one of its default values. This PR make sure it supports and and added tests that tensor input and None should both work well Fixes isaac-sim#2878 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## 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 - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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Oct 24, 2025
…nt (isaac-sim#2970) As reported by issue, isaaclab.scene.reset_to currently does not run well with env_id = None, even though None is one of its default values. This PR make sure it supports and and added tests that tensor input and None should both work well Fixes isaac-sim#2878 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> - [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 - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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Description
As reported by issue, isaaclab.scene.reset_to currently does not run well with env_id = None, even though None is one of its default values.
This PR make sure it supports and and added tests that tensor input and None should both work well
Fixes #2878
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there