# Description

When reset_root_state_from_terrain is called from an EventTerm, we
cannot predict which env_ids will be targeted. To prevent program
crashes due to tensor size mismatches, this MR modifies the velocity
calculation to use only the specified env_ids instead of referencing all
environments.

Changes:
- Updated velocity calculation to use env_ids indexing for
default_root_state
- This ensures tensor dimensions match between default_root_state and
rand_samples

Fixes #1882 

## 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
- [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