Fix reset_joints_by_scale and reset_joints_by_offsets to only affect the joint_names specified in SceneEntityCfg by ooctipus · Pull Request #2803 · isaac-sim/IsaacLab · GitHub | Latest TMZ Celebrity News & Gossip | Watch TMZ Live
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Fix reset_joints_by_scale and reset_joints_by_offsets to only affect the joint_names specified in SceneEntityCfg #2803

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Fix reset_joints_by_scale and reset_joints_by_offsets to only affect the joint_names specified in SceneEntityCfg #2803

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Description

Both reset_joints_by_offsets and reset_joints_by_scale ignores the joint_ids specified in SceneEntityCfg passed through asset_cfg and affects all joints.

This bug is affecting all cartpole environments.

After the fix the functions are restricted to only reset the joint specified through SceneEntityCfg, Cartpole environment runs and reset behaves correctly

Fixes #2800 #980 #1742

Type of change

  • Bug fix (non-breaking change which fixes an issue)

Checklist

  • I have run the pre-commit checks with ./isaaclab.sh --format
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • I have updated the changelog and the corresponding version in the extension's config/extension.toml file
  • I have added my name to the CONTRIBUTORS.md or my name already exists there

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@jsmith-bdai jsmith-bdai Awaiting requested review from jsmith-bdai jsmith-bdai is a code owner

@kellyguo11 kellyguo11 Awaiting requested review from kellyguo11 kellyguo11 is a code owner

@Mayankm96 Mayankm96 Awaiting requested review from Mayankm96 Mayankm96 is a code owner

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Successfully merging this pull request may close these issues.

[Bug Report] mdp.reset_joints_by_offsets, mdp.reset_joint_by_scale Ignores joint indices define by user
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@ooctipus

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