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.