Improves actuator performance by replacing list with tensor (#121)

# Description

Improves actuator performance by replacing the joint_ids type from list
to torch tensor

## Type of change

- 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

source/apps/isaaclab.python.headless.kit

@@ -11,10 +11,11 @@ version = "1.1.0"
 keywords = ["experience", "app", "isaaclab", "python", "headless"]
 
 [settings]
+# Note: This path was adapted to be respective to the kit-exe file location
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.1.0"
+app.version = "4.2.0"
 
 ##################################
 # Omniverse related dependencies #
@@ -104,12 +105,6 @@ app.audio.enabled = false
 # Enable Vulkan - avoids torch+cu12 error on windows
 app.vulkan = true
 
-# Basic Kit App
-################################
-app.versionFile = "${app}/../VERSION"
-app.name = "Isaac-Sim"
-app.version = "4.1.0"
-
 # hide NonToggleable Exts
 exts."omni.kit.window.extensions".hideNonToggleableExts = true
 exts."omni.kit.window.extensions".showFeatureOnly = false

source/apps/isaaclab.python.headless.rendering.kit

@@ -25,14 +25,11 @@ keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
 "omni.kit.viewport.rtx" = {}
 
 [settings]
-
-# Basic Kit App
-################################
 # Note: This path was adapted to be respective to the kit-exe file location
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.1.0"
+app.version = "4.2.0"
 
 # set the default ros bridge to disable on startup
 isaac.startup.ros_bridge_extension = ""

source/apps/isaaclab.python.kit

@@ -10,6 +10,13 @@ version = "1.1.0"
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]
 
+[settings]
+# Note: This path was adapted to be respective to the kit-exe file location
+app.versionFile = "${exe-path}/VERSION"
+app.folder = "${exe-path}/"
+app.name = "Isaac-Sim"
+app.version = "4.2.0"
+
 [dependencies]
 # Isaac Sim extensions
 "omni.isaac.cloner" = {}
@@ -219,13 +226,6 @@ app.vulkan = true
 # disable replicator orchestrator for better runtime perf
 exts."omni.replicator.core".Orchestrator.enabled = false
 
-# Basic Kit App
-################################
-app.versionFile = "${exe-path}/VERSION"
-app.folder = "${exe-path}/"
-app.name = "Isaac-Sim"
-app.version = "4.1.0"
-
 # hide NonToggleable Exts
 exts."omni.kit.window.extensions".hideNonToggleableExts = true
 exts."omni.kit.window.extensions".showFeatureOnly = false

source/apps/isaaclab.python.rendering.kit

@@ -25,9 +25,6 @@ keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
 "omni.kit.material.library" = {}
 
 [settings]
-
-# Basic Kit App
-################################
 # Note: This path was adapted to be respective to the kit-exe file location
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -1118,7 +1118,9 @@ class Articulation(AssetBase):
             actuator: ActuatorBase = actuator_cfg.class_type(
                 cfg=actuator_cfg,
                 joint_names=joint_names,
-                joint_ids=slice(None) if len(joint_names) == self.num_joints else joint_ids,
+                joint_ids=(
+                    slice(None) if len(joint_names) == self.num_joints else torch.tensor(joint_ids, device=self.device)
+                ),
                 num_envs=self.num_instances,
                 device=self.device,
                 stiffness=usd_stiffness[:, joint_ids],