Fixes missing actuator indices variable in joint randomization

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.46.1"
+version = "0.46.2"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+
+0.46.2 (2025-09-13)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Fixed missing actuator indices in :meth:`~isaaclab.envs.mdp.events.randomize_actuator_gains`
+
+
 0.46.1 (2025-09-10)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -602,7 +602,7 @@ def randomize(data: torch.Tensor, params: tuple[float, float]) -> torch.Tensor:
                     raise TypeError("Actuator joint indices must be a slice or a torch.Tensor.")
             elif isinstance(actuator.joint_indices, slice):
                 # we take the joints defined in the asset config
-                global_indices = torch.tensor(self.asset_cfg.joint_ids, device=self.asset.device)
+                global_indices = actuator_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 = actuator.joint_indices