Fixes advanced indexing shape mismatch when resetting prev_action...

Fixes advanced indexing shape mismatch when resetting prev_action isaaclab.envs.mdp.actions.JointPositionToLimitsAction (#3865)

# Description

This PR fixes the issue reported in #3753 where the advanced indexing
failed due to shape mismatch.
This PR is an alternative solution to #3754,

The fixes is tricky, the most elegant and performant way I found so far
is separate code path when env_id is None vs env_id is tensor. if we
don't do so, applying left hand side with
self._prev_applied_actions[env_ids, :] where env_ids is 2d will cause
the lfs shape to be ill formed.


Fixes #3753 

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## Type of change

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

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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
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- [ ] 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
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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.50.0"
+version = "0.50.1"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.50.1 (2025-11-25)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed advanced indexing issue in resetting prev action
+  in :class:`~isaaclab.envs.mdp.actions.JointPositionToLimitsAction` .
+
+
 0.50.0 (2025-12-8)
 ~~~~~~~~~~~~~~~~~~
 
@@ -14,6 +24,9 @@ Added
 0.49.3 (2025-12-03)
 ~~~~~~~~~~~~~~~~~~~
 
+Added
+^^^^^
+
 * Added :class:`G1TriHandUpperBodyMotionControllerGripperRetargeter` and :class:`G1TriHandUpperBodyMotionControllerGripperRetargeterCfg` for retargeting the gripper state from motion controllers.
 * Added unit tests for the retargeters.
 
@@ -75,6 +88,7 @@ Changed
 
 
 
+
 0.48.6 (2025-11-18)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py

@@ -266,12 +266,12 @@ class EMAJointPositionToLimitsAction(JointPositionToLimitsAction):
     def reset(self, env_ids: Sequence[int] | None = None) -> None:
         # check if specific environment ids are provided
         if env_ids is None:
-            env_ids = slice(None)
+            super().reset(slice(None))
+            self._prev_applied_actions[:] = self._asset.data.joint_pos[:, self._joint_ids]
         else:
-            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]
+            super().reset(env_ids)
+            curr_applied_actions = self._asset.data.joint_pos[env_ids[:, None], self._joint_ids].view(len(env_ids), -1)
+            self._prev_applied_actions[env_ids, :] = curr_applied_actions
 
     def process_actions(self, actions: torch.Tensor):
         # apply affine transformations