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Fixes tensor construction warning in events.py #3251

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Merged
merged 8 commits into from
Sep 11, 2025
Merged

Fixes tensor construction warning in events.py #3251

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19dc10a
fixes the tensor construction
louislelay Aug 22, 2025
6e89740
corrects typo
louislelay Aug 22, 2025
ce81ca5
Merge branch 'main' into fix/tensor-construction-events
ooctipus Aug 22, 2025
fa19691
corrects typo
louislelay Sep 5, 2025
7d52ca0
makes types check stronger
louislelay Sep 5, 2025
f513ce5
Update source/isaaclab/isaaclab/envs/mdp/events.py
louislelay Sep 8, 2025
b10dd9c
Merge branch 'main' into fix/tensor-construction-events
louislelay Sep 8, 2025
f8cd922
Merge branch 'main' into fix/tensor-construction-events
Mayankm96 Sep 11, 2025
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6 changes: 3 additions & 3 deletions source/isaaclab/isaaclab/envs/mdp/events.py
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Original file line number Diff line number Diff line change
Expand Up @@ -597,13 +597,13 @@ def randomize(data: torch.Tensor, params: tuple[float, float]) -> torch.Tensor:
if isinstance(actuator.joint_indices, slice):
global_indices = slice(None)
else:
global_indices = torch.tensor(actuator.joint_indices, device=self.asset.device)
global_indices = actuator_joint_indices = actuator.joint_indices.to(self.asset.device)
elif isinstance(actuator.joint_indices, slice):
# we take the joints defined in the asset config
global_indices = actuator_indices = torch.tensor(self.asset_cfg.joint_ids, device=self.asset.device)
global_indices = torch.tensor(self.asset_cfg.joint_ids, device=self.asset.device)
else:
# we take the intersection of the actuator joints and the asset config joints
actuator_joint_indices = torch.tensor(actuator.joint_indices, device=self.asset.device)
actuator_joint_indices = actuator.joint_indices.to(self.asset.device)
asset_joint_ids = torch.tensor(self.asset_cfg.joint_ids, device=self.asset.device)
# the indices of the joints in the actuator that have to be randomized
actuator_indices = torch.nonzero(torch.isin(actuator_joint_indices, asset_joint_ids)).view(-1)
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