[FIX BUG]: Weld constraint in multi-env #1386
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LeonLiu4 wants to merge 13 commits intoGenesis-Embodied-AI:mainfrom
Closed
[FIX BUG]: Weld constraint in multi-env #1386LeonLiu4 wants to merge 13 commits intoGenesis-Embodied-AI:mainfrom
LeonLiu4 wants to merge 13 commits intoGenesis-Embodied-AI:mainfrom
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duburcqa
reviewed
Jul 10, 2025
| _, link2_idx, envs_idx = self._sanitize_1D_io_variables( | ||
| None, link2_idx, self.n_links, envs_idx, idx_name="links_idx", skip_allocation=True, unsafe=unsafe | ||
| ) | ||
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Do not cast from torch to numpy, this is irrelevant.
duburcqa
reviewed
Jul 10, 2025
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| if envs_idx is not None and envs_idx.shape[0] > 1: | ||
| if link1_idx.shape[0] == 1: | ||
| link1_idx = np.repeat(link1_idx, envs_idx.shape[0]) |
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By the way, no need to check if it is a tensor. It has been sanitized as torch tensor already.
Collaborator
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Why the sanitize helper was not able to catch this dimensionality issue ? This is basically the whole point of this method. |
Collaborator
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Superseded by #1390 |
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If envs_idx contains multiple environments but link1_idx/link2_idx are length-1, we now np.repeat those indices so their length matches envs_idx. This prevents silent out-of-bounds reads that dropped welds in all but the first environment.
Addresses: #1383