fix(terminations): index before reduce in joint_pos_out_of_limit #3153
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moribots
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@moribots - could you please point this PR to |
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Definitely! Sorry, I was not aware of this |
Root cause: reduced over joints to [N] then indexed with [:, joint_ids] → IndexError. Change: compare to limits → [N,J], slice columns with joint_ids → [N,K], then .any(dim=1). Result: returns [N] without error for both [1,J,2] and [N,J,2] limit tensors; joint_ids=None still uses all joints.
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Description
Root cause: reduced over joints to [N] then indexed with [:, joint_ids] → IndexError.
Change: compare to limits → [N,J], slice columns with joint_ids → [N,K], then .any(dim=1).
Result: returns [N] without error for both [1,J,2] and [N,J,2] limit tensors; joint_ids=None still uses all joints.
Fixes #3152
Type of change
joint_pos_out_of_limit()Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfile (N/A)CONTRIBUTORS.mdor my name already exists there