Fixes terrain_out_of_bounds to return tensor instead of bool#3180
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ooctipus
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terrain_out_of_bounds to return tensor instead of boolterrain_out_of_bounds to return tensor instead of bool
Mayankm96
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Aug 22, 2025
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george-nehma
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Oct 24, 2025
…-sim#3180) # Description Fix terrain_out_of_bounds to return tensor instead of bool Ensure the function always returns a PyTorch tensor (shape [num_envs]) rather than a Python boolean when terrain_type is "plane", preventing AttributeError in termination_manager. Before: ```bash Error executing job with overrides: [] Traceback (most recent call last): File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main func(env_cfg, agent_cfg, *args, **kwargs) File "/home/ubuntu/workspaces/robot_lab/scripts/reinforcement_learning/rsl_rl/train.py", line 165, in main runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True) File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/rsl_rl/runners/on_policy_runner.py", line 206, in learn obs, rewards, dones, infos = self.env.step(actions.to(self.env.device)) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py", line 176, in step obs_dict, rew, terminated, truncated, extras = self.env.step(actions) ^^^^^^^^^^^^^^^^^^^^^^ File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 393, in step return super().step(action) ^^^^^^^^^^^^^^^^^^^^ File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/gymnasium/core.py", line 327, in step return self.env.step(action) ^^^^^^^^^^^^^^^^^^^^^ File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 204, in step self.reset_buf = self.termination_manager.compute() ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab/isaaclab/managers/termination_manager.py", line 172, in compute rows = value.nonzero(as_tuple=True)[0] # indexing is cheaper than boolean advance indexing ^^^^^^^^^^^^^ AttributeError: 'bool' object has no attribute 'nonzero' ``` ## 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 --------- Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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Description
Fix terrain_out_of_bounds to return tensor instead of bool
Ensure the function always returns a PyTorch tensor (shape [num_envs]) rather than a Python boolean when terrain_type is "plane", preventing AttributeError in termination_manager.
Before:
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there