Fixes reset_joints_by_scale and reset_joints_by_offsets to only affect the...

Fixes reset_joints_by_scale and reset_joints_by_offsets to only affect the joint_names specified in SceneEntityCfg (#2899)

# 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

<!-- As you go through the list, delete the ones that are not
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
- [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

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putting an x character in it

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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

CONTRIBUTORS.md

@@ -29,6 +29,7 @@ Guidelines for modifications:
 * Matthew Trepte
 * Mayank Mittal
 * Nikita Rudin
+* Octi (Zhengyu) Zhang
 * Pascal Roth
 * Sheikh Dawood
 * Ossama Ahmed
@@ -124,7 +125,6 @@ Guidelines for modifications:
 * Yijie Guo
 * Yujian Zhang
 * Yun Liu
-* Zhengyu Zhang
 * Ziqi Fan
 * Zoe McCarthy
 * David Leon

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.19"
+version = "0.40.20"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.40.20 (2025-07-11)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :meth:`isaaclab.envs.mdp.events.reset_joints_by_scale`, :meth:`isaaclab.envs.mdp.events.reset_joints_by_offsets`
+restricting the resetting joint indices be that user defined joint indices.
+
+
 0.40.19 (2025-07-11)
 ~~~~~~~~~~~~~~~~~~~~
 

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

@@ -1040,22 +1040,27 @@ def reset_joints_by_scale(
     # extract the used quantities (to enable type-hinting)
     asset: Articulation = env.scene[asset_cfg.name]
     # get default joint state
-    joint_pos = asset.data.default_joint_pos[env_ids].clone()
-    joint_vel = asset.data.default_joint_vel[env_ids].clone()
+    joint_pos = asset.data.default_joint_pos[env_ids, asset_cfg.joint_ids].clone()
+    joint_vel = asset.data.default_joint_vel[env_ids, asset_cfg.joint_ids].clone()
 
     # scale these values randomly
     joint_pos *= math_utils.sample_uniform(*position_range, joint_pos.shape, joint_pos.device)
     joint_vel *= math_utils.sample_uniform(*velocity_range, joint_vel.shape, joint_vel.device)
 
     # clamp joint pos to limits
-    joint_pos_limits = asset.data.soft_joint_pos_limits[env_ids]
+    joint_pos_limits = asset.data.soft_joint_pos_limits[env_ids, asset_cfg.joint_ids]
     joint_pos = joint_pos.clamp_(joint_pos_limits[..., 0], joint_pos_limits[..., 1])
     # clamp joint vel to limits
-    joint_vel_limits = asset.data.soft_joint_vel_limits[env_ids]
+    joint_vel_limits = asset.data.soft_joint_vel_limits[env_ids, asset_cfg.joint_ids]
     joint_vel = joint_vel.clamp_(-joint_vel_limits, joint_vel_limits)
 
     # set into the physics simulation
-    asset.write_joint_state_to_sim(joint_pos, joint_vel, env_ids=env_ids)
+    asset.write_joint_state_to_sim(
+        joint_pos.view(len(env_ids), -1),
+        joint_vel.view(len(env_ids), -1),
+        env_ids=env_ids,
+        joint_ids=asset_cfg.joint_ids,
+    )
 
 
 def reset_joints_by_offset(
@@ -1074,22 +1079,27 @@ def reset_joints_by_offset(
     asset: Articulation = env.scene[asset_cfg.name]
 
     # get default joint state
-    joint_pos = asset.data.default_joint_pos[env_ids].clone()
-    joint_vel = asset.data.default_joint_vel[env_ids].clone()
+    joint_pos = asset.data.default_joint_pos[env_ids, asset_cfg.joint_ids].clone()
+    joint_vel = asset.data.default_joint_vel[env_ids, asset_cfg.joint_ids].clone()
 
     # bias these values randomly
     joint_pos += math_utils.sample_uniform(*position_range, joint_pos.shape, joint_pos.device)
     joint_vel += math_utils.sample_uniform(*velocity_range, joint_vel.shape, joint_vel.device)
 
     # clamp joint pos to limits
-    joint_pos_limits = asset.data.soft_joint_pos_limits[env_ids]
+    joint_pos_limits = asset.data.soft_joint_pos_limits[env_ids, asset_cfg.joint_ids]
     joint_pos = joint_pos.clamp_(joint_pos_limits[..., 0], joint_pos_limits[..., 1])
     # clamp joint vel to limits
-    joint_vel_limits = asset.data.soft_joint_vel_limits[env_ids]
+    joint_vel_limits = asset.data.soft_joint_vel_limits[env_ids, asset_cfg.joint_ids]
     joint_vel = joint_vel.clamp_(-joint_vel_limits, joint_vel_limits)
 
     # set into the physics simulation
-    asset.write_joint_state_to_sim(joint_pos, joint_vel, env_ids=env_ids)
+    asset.write_joint_state_to_sim(
+        joint_pos.view(len(env_ids), -1),
+        joint_vel.view(len(env_ids), -1),
+        env_ids=env_ids,
+        joint_ids=asset_cfg.joint_ids,
+    )
 
 
 def reset_nodal_state_uniform(