Merge branch 'isaac-sim:main' into main

fan-ziqi · Jul 24, 2024 · 77b670a · 77b670a
2 parents ef6e589 + 4a3f07a
commit 77b670a
Show file tree

Hide file tree

Showing 6 changed files with 6 additions and 5 deletions.
diff --git a/docs/source/migration/migrating_from_isaacgymenvs.rst b/docs/source/migration/migrating_from_isaacgymenvs.rst
@@ -782,7 +782,7 @@ The ``progress_buf`` variable has also been renamed to ``episode_length_buf``.
 |     velocities = 0.5 * (torch.rand((len(env_ids), self.num_dof),      |                                                                           |
 |         device=self.device) - 0.5)                                    |     time_out = self.episode_length_buf >= self.max_episode_length - 1     |
 |                                                                       |     out_of_bounds = torch.any(torch.abs(                                  |
-|     self.dof_pos[env_ids, :] = positions[:]                           |         self.joint_pos[:, self._pole_dof_idx] > self.cfg.max_cart_pos),   |
+|     self.dof_pos[env_ids, :] = positions[:]                           |         self.joint_pos[:, self._cart_dof_idx]) > self.cfg.max_cart_pos,   |
 |     self.dof_vel[env_ids, :] = velocities[:]                          |         dim=1)                                                            |
 |                                                                       |     out_of_bounds = out_of_bounds | torch.any(                            |
 |     env_ids_int32 = env_ids.to(dtype=torch.int32)                     |         torch.abs(self.joint_pos[:, self._pole_dof_idx]) > math.pi / 2,   |

diff --git a/docs/source/migration/migrating_from_omniisaacgymenvs.rst b/docs/source/migration/migrating_from_omniisaacgymenvs.rst
@@ -706,7 +706,7 @@ reset the ``episode_length_buf`` buffer.
 |   resets = torch.where(                                          |                                                                          |
 |     torch.abs(self.pole_pos) > math.pi / 2, 1, resets)           |     time_out = self.episode_length_buf >= self.max_episode_length - 1    |
 |   resets = torch.where(                                          |     out_of_bounds = torch.any(torch.abs(                                 |
-|     self.progress_buf >= self._max_episode_length, 1, resets)    |         self.joint_pos[:, self._pole_dof_idx] > self.cfg.max_cart_pos),  |
+|     self.progress_buf >= self._max_episode_length, 1, resets)    |         self.joint_pos[:, self._cart_dof_idx]) > self.cfg.max_cart_pos,  |
 |   self.reset_buf[:] = resets                                     |         dim=1)                                                           |
 |                                                                  |     out_of_bounds = out_of_bounds | torch.any(                           |
 |                                                                  |         torch.abs(self.joint_pos[:, self._pole_dof_idx]) > math.pi / 2,  |

diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
@@ -1065,7 +1065,7 @@ def _process_actuators_cfg(self):
         if total_act_joints != (self.num_joints - self.num_fixed_tendons):
             carb.log_warn(
                 "Not all actuators are configured! Total number of actuated joints not equal to number of"
-                f" joints available: {total_act_joints} != {self.num_joints}."
+                f" joints available: {total_act_joints} != {self.num_joints - self.num_fixed_tendons}."
             )
 
     def _process_fixed_tendons(self):

diff --git a/...sks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py b/...sks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py
@@ -26,7 +26,7 @@ def __post_init__(self):
         self.scene.robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
-        self.actions.body_joint_pos = DifferentialInverseKinematicsActionCfg(
+        self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
             asset_name="robot",
             joint_names=["panda_joint.*"],
             body_name="panda_hand",

diff --git a/...sks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py b/...sks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py
@@ -26,7 +26,7 @@ def __post_init__(self):
         self.scene.robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
-        self.actions.body_joint_pos = DifferentialInverseKinematicsActionCfg(
+        self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
             asset_name="robot",
             joint_names=["panda_joint.*"],
             body_name="panda_hand",

diff --git a/...ni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/reach_env_cfg.py b/...ni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/reach_env_cfg.py
@@ -201,6 +201,7 @@ def __post_init__(self):
         """Post initialization."""
         # general settings
         self.decimation = 2
+        self.sim.render_interval = self.decimation
         self.episode_length_s = 12.0
         self.viewer.eye = (3.5, 3.5, 3.5)
         # simulation settings