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Fixes tensor construction warning in events.py#3251

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Mayankm96 merged 8 commits into
isaac-sim:mainfrom
louislelay:fix/tensor-construction-events
Sep 11, 2025
Merged

Fixes tensor construction warning in events.py#3251
Mayankm96 merged 8 commits into
isaac-sim:mainfrom
louislelay:fix/tensor-construction-events

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@louislelay

@louislelay louislelay commented Aug 22, 2025 •
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Description

This PR removes a UserWarning from PyTorch about using torch.tensor() on an existing tensor in events.py. It replaces torch.tensor(actuator.joint_indices, device=asset.device) with .to(device) to avoid unnecessary copies.

Warning mentionned:

/home/spring/IsaacLab/source/isaaclab/isaaclab/envs/mdp/events.py:542: 
UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor). actuator_joint_indices = torch.tensor(actuator.joint_indices, device=asset.device)

Type of change

  • Bug fix (non-breaking change which fixes an issue)

Checklist

  • I have run the pre-commit checks with ./isaaclab.sh --format
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • I have updated the changelog and the corresponding version in the extension's config/extension.toml file
  • I have added my name to the CONTRIBUTORS.md or my name already exists there

@louislelay louislelay requested a review from ooctipus as a code owner August 22, 2025 09:15
@ooctipus

ooctipus commented Aug 29, 2025

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@louislelay

So actuator.joint_indices can only be torch.tensor or slice? if that is true maybe add if isinstance(slice), elif isinstance(torch.Tensor), else raise error may be a bit more readable?

On a second note, do you think check the type during call time can be too expensive (I know you didn't write the original function, so no pressure to edit), (◎ ◎)ゞ why couldn't we do the check and construct indices during init construction instead?

Would love to know your thought on it. : ))

@Mayankm96

Mayankm96 commented Sep 1, 2025

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So actuator.joint_indices can only be torch.tensor or slice? if that is true maybe add if isinstance(slice), elif isinstance(torch.Tensor), else raise error may be a bit more readable?

Yes, i think it makes sense to become more strong-type if the type is known already.

Why couldn't we do the check and construct indices during init construction instead?

We do the checks for findding joint indices when resolving scene entities. Do you mean the check in the event term itself?

@louislelay

louislelay commented Sep 5, 2025 •
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Hey @ooctipus and @Mayankm96, thanks for the feedback!

I’ve updated the code to make the checks type-explicit and raise on unexpected types. I’ll run tests once my current training job finishes and let you know when it’s ready for review again. Edit: it's good to me :)

On the second point: I agree with Octi, moving the joint index resolution to __init__ makes sense since it stays stable during training and avoids extra work each step.

Mayankm96
Mayankm96 reviewed Sep 6, 2025
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Comment thread source/isaaclab/isaaclab/envs/mdp/events.py Outdated
louislelay and others added 2 commits September 8, 2025 13:56
@louislelay @Mayankm96
Update source/isaaclab/isaaclab/envs/mdp/events.py
f513ce5 
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
@louislelay
Merge branch 'main' into fix/tensor-construction-events
b10dd9c
@louislelay

louislelay commented Sep 8, 2025

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I tested it and accepted your changes @Mayankm96, aside from the init vs call thingy the rest is good to me!

@github-actions github-actions Bot added bug Something isn't working isaac-lab Related to Isaac Lab team labels Sep 11, 2025
@Mayankm96 Mayankm96 merged commit 649ad88 into isaac-sim:main Sep 11, 2025
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@ooctipus

ooctipus commented Sep 13, 2025 •
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@louislelay

- 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)

ahh we are now missing actuator_indices and can cause error because it is not defined
I will submit an PR to fix this

@ooctipus ooctipus mentioned this pull request Sep 13, 2025
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kellyguo11 pushed a commit that referenced this pull request Sep 15, 2025
@ooctipus
Fixes missing actuator indices variable in joint randomization (#3447)
661117d 
# Description

This PR fixes an issue introduced in #3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Screenshots

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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
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exists there

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kellyguo11 pushed a commit that referenced this pull request Sep 18, 2025
@louislelay @ooctipus
@Mayankm96 @kellyguo11
Fixes tensor construction warning in events.py (#3251)
e0532c4 
# Description

This PR removes a `UserWarning` from PyTorch about using
`torch.tensor()` on an existing tensor in `events.py`. It replaces
`torch.tensor(actuator.joint_indices, device=asset.device)` with
`.to(device)` to avoid unnecessary copies.

Warning mentionned:

```bash
/home/spring/IsaacLab/source/isaaclab/isaaclab/envs/mdp/events.py:542: 
UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor). actuator_joint_indices = torch.tensor(actuator.joint_indices, device=asset.device)
```

## 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
- [ ] 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

---------

Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
kellyguo11 pushed a commit that referenced this pull request Sep 18, 2025
@ooctipus @kellyguo11
Fixes missing actuator indices variable in joint randomization (#3447)
05b5a7e 
This PR fixes an issue introduced in #3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

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- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
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- [ ] 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
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@louislelay louislelay deleted the fix/tensor-construction-events branch September 19, 2025 08:18
ooctipus added a commit to ooctipus/IsaacLab that referenced this pull request Sep 20, 2025
@louislelay @ooctipus @Mayankm96
Fixes tensor construction warning in events.py (isaac-sim#3251)
bff4ede 
# Description

This PR removes a `UserWarning` from PyTorch about using
`torch.tensor()` on an existing tensor in `events.py`. It replaces
`torch.tensor(actuator.joint_indices, device=asset.device)` with
`.to(device)` to avoid unnecessary copies.

Warning mentionned:

```bash
/home/spring/IsaacLab/source/isaaclab/isaaclab/envs/mdp/events.py:542: 
UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor). actuator_joint_indices = torch.tensor(actuator.joint_indices, device=asset.device)
```

## 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
- [ ] 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

---------

Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
ooctipus added a commit to ooctipus/IsaacLab that referenced this pull request Sep 20, 2025
@ooctipus
Fixes missing actuator indices variable in joint randomization (isaac…
8e913f6 
…-sim#3447)

This PR fixes an issue introduced in isaac-sim#3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

Please attach before and after screenshots of the change if applicable.

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- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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hougantc-nvda pushed a commit to hougantc-nvda/IsaacLab that referenced this pull request Oct 22, 2025
@ooctipus @hougantc-nvda
Fixes missing actuator indices variable in joint randomization (isaac…
ec83f69 
…-sim#3447)

# Description

This PR fixes an issue introduced in isaac-sim#3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Screenshots

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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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george-nehma pushed a commit to george-nehma/DreamLander-IsaacLab that referenced this pull request Oct 24, 2025
@louislelay @ooctipus @Mayankm96
Fixes tensor construction warning in events.py (isaac-sim#3251)
357daeb 
# Description

This PR removes a `UserWarning` from PyTorch about using
`torch.tensor()` on an existing tensor in `events.py`. It replaces
`torch.tensor(actuator.joint_indices, device=asset.device)` with
`.to(device)` to avoid unnecessary copies.

Warning mentionned:

```bash
/home/spring/IsaacLab/source/isaaclab/isaaclab/envs/mdp/events.py:542: 
UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor). actuator_joint_indices = torch.tensor(actuator.joint_indices, device=asset.device)
```

## 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
- [ ] 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

---------

Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
george-nehma pushed a commit to george-nehma/DreamLander-IsaacLab that referenced this pull request Oct 24, 2025
@ooctipus
Fixes missing actuator indices variable in joint randomization (isaac…
e3962e8 
…-sim#3447)

# Description

This PR fixes an issue introduced in isaac-sim#3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Screenshots

Please attach before and after screenshots of the change if applicable.

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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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hougantc-nvda pushed a commit to hougantc-nvda/IsaacLab that referenced this pull request Oct 24, 2025
@ooctipus @hougantc-nvda
Fixes missing actuator indices variable in joint randomization (isaac…
ef324b8 
…-sim#3447)

This PR fixes an issue introduced in isaac-sim#3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

Please attach before and after screenshots of the change if applicable.

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- [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
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- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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hougantc-nvda pushed a commit to hougantc-nvda/IsaacLab that referenced this pull request Nov 10, 2025
@ooctipus @hougantc-nvda
Fixes missing actuator indices variable in joint randomization (isaac…
0e4186c 
…-sim#3447)

This PR fixes an issue introduced in isaac-sim#3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

Please attach before and after screenshots of the change if applicable.

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- [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

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hougantc-nvda pushed a commit to hougantc-nvda/IsaacLab that referenced this pull request Nov 10, 2025
@ooctipus @hougantc-nvda
Fixes missing actuator indices variable in joint randomization (isaac…
3aa223c 
…-sim#3447)

This PR fixes an issue introduced in isaac-sim#3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

Please attach before and after screenshots of the change if applicable.

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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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

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