diff --git a/docs/source/migration/migrating_from_isaacgymenvs.rst b/docs/source/migration/migrating_from_isaacgymenvs.rst index eb8a1505b3..23abb41c23 100644 --- 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 index ba32330f19..66e3deacb8 100644 --- 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 index e2198f217f..40987fecc1 100644 --- 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/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py index a190c29784..a308398c70 100644 --- a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_abs_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/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/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py index 76b420296c..8330957fda 100644 --- a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/ik_rel_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/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/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/reach_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/reach_env_cfg.py index b49fb5ba97..521b1bb7ad 100644 --- a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/reach_env_cfg.py +++ b/source/extensions/omni.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