# Description

This MR makes a critical fix for the assets classes `reset` mechanism.
Particularly, the `write_` methods for the physics handles.

Before, the root and joint states were reset for all environments rather
than the specific `env_ids` concerned with the reset. This caused
instabilities in the dynamics, but it was not necessarily perceivable in
environments with spread-out resets like ANYmal.

## 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
`./orbit.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