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[Bug Report] joint‑limit termination helpers raise *IndexError: too many indices* when joint_ids is set #2441

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GiulioRomualdi opened this issue May 7, 2025 · 2 comments · May be fixed by #2442
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[Bug Report] joint‑limit termination helpers raise *IndexError: too many indices* when joint_ids is set #2441

GiulioRomualdi opened this issue May 7, 2025 · 2 comments · May be fixed by #2442
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@GiulioRomualdi
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Describe the bug

Calling joint_pos_out_of_limit or joint_pos_out_of_manual_limit with asset_cfg.joint_ids set to anything other than None raises

IndexError: too many indices for tensor of dimension 1

because the helpers reduce across joints (torch.any(dim=1)) before they slice with asset_cfg.joint_ids, leaving a 1‑D tensor that cannot be indexed with [:, ids].

Steps to reproduce

System Info

  • Commit: 82cb320 (current main)
  • Isaac Sim Version: 4.5.0
  • OS: 22.04
  • GPU: NVIDIA L40S
  • CUDA: 12.4
  • GPU Driver: 550.107.02

Additional context

The bug breaks any workflow that relies on per‑joint termination masks
(e.g. training tasks that deactivate specific joints).

Checklist

  • I have checked that there is no similar issue in the repo (required)
  • I have confirmed the error is in Isaac Lab helpers, not in Isaac Sim

Acceptance Criteria

  • joint_pos_out_of_limit works for None, slice, list and tensor joint selections.
  • joint_pos_out_of_manual_limit shows the same correct behaviour.
@GiulioRomualdi GiulioRomualdi linked a pull request May 7, 2025 that will close this issue
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@GiulioRomualdi
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Fixed by #2442

@RandomOakForest
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Thanks for posting this and adding the PR. The team will review it. Thanks!

@RandomOakForest RandomOakForest added the bug Something isn't working label May 8, 2025
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Fixes joint out of position limits terminations GiulioRomualdi/IsaacLab
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@GiulioRomualdi @RandomOakForest