Broadcasts environment ids inside `mdp.randomize_rigid_body_com` (#3164)

# Description

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In function `isaaclab.envs.mdp.events.randomize_rigid_body_com`, the
random CoM values were sampled with respect to `env_ids`, but when added
to the bodies' current CoMs, `env_ids` is omitted, resulting in
potential shape mismatch error if `len(env_ids) <> env.scene.num_envs`.


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## Type of change

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applicable. -->

- 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
- [ ] 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

---------
Signed-off-by: Xinpeng Liu <43176336+Foruck@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

CONTRIBUTORS.md

@@ -127,6 +127,7 @@ Guidelines for modifications:
 * Vladimir Fokow
 * Wei Yang
 * Xavier Nal
+* Xinpeng Liu
 * Yang Jin
 * Yanzi Zhu
 * Yijie Guo

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.45.4"
+version = "0.45.6"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+
+
+0.45.6 (2025-08-22)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :meth:`~isaaclab.envs.mdp.events.randomize_rigid_body_com` to broadcasts the environment ids.
+
+
+
 0.45.5 (2025-08-21)
+~~~~~~~~~~~~~~~~~~~~
 
 Fixed
 ^^^^^
@@ -11,6 +24,7 @@ Fixed
 * Fixed :meth:`~isaaclab.assets.Articulation.write_joint_viscous_friction_coefficient_to_sim` to set the friction coefficients in the simulation.
 
 
+
 0.45.4 (2025-08-21)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -418,7 +418,7 @@ def randomize_rigid_body_com(
     coms = asset.root_physx_view.get_coms().clone()
 
     # Randomize the com in range
-    coms[:, body_ids, :3] += rand_samples
+    coms[env_ids[:, None], body_ids, :3] += rand_samples
 
     # Set the new coms
     asset.root_physx_view.set_coms(coms, env_ids)