From a83d498f60754c63abd27be9f020732f67322608 Mon Sep 17 00:00:00 2001 From: Yasunori Toshimitsu Date: Fri, 17 Oct 2025 15:26:13 +0200 Subject: [PATCH 1/2] Fixes indexing in EMAJointPositionToLimitsAction reset method, which had resulted in errors when some joints were disabled --- .../isaaclab/envs/mdp/actions/joint_actions_to_limits.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py index 2667f7e86a6..2a43ed7a705 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py @@ -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 From 46636b5e1be6b4c6ad95950b454b732a3e4ef585 Mon Sep 17 00:00:00 2001 From: Yasunori Toshimitsu Date: Fri, 17 Oct 2025 16:54:44 +0200 Subject: [PATCH 2/2] add myself as contributor --- CONTRIBUTORS.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index 0feaabb2c8f..cd558135b97 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -140,6 +140,7 @@ Guidelines for modifications: * Xinpeng Liu * Yang Jin * Yanzi Zhu +* Yasunori Toshimitsu * Yijie Guo * Yohan Choi * Yujian Zhang