Merge branch 'main' of https://github.com/fan-ziqi/IsaacLab

fan-ziqi · Jul 24, 2024 · c045577 · c045577
2 parents b6d8b8a + 77b670a
commit c045577
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diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.po
@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Isaac Lab 1.0.0\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2024-07-23 07:39+0000\n"
+"POT-Creation-Date: 2024-07-23 09:29+0000\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: Ziqi Fan <[email protected]>\n"
 "Language: zh_CN\n"
@@ -252,6 +252,7 @@ msgid "Different rendering modes for the simulation."
 msgstr ""
 
 #: of omni.isaac.lab.sim.simulation_context.SimulationContext:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1
 msgid "**Methods:**"
 msgstr ""
 
@@ -468,63 +469,70 @@ msgid "**Attributes:**"
 msgstr ""
 
 #: of
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid ""
 ":py:obj:`NO_GUI_OR_RENDERING "
 "<omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING>`\\"
 msgstr ""
 
 #: ../../docstring of
 #: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid ""
 "The simulation is running without a GUI and off-screen rendering is "
 "disabled."
 msgstr ""
 
 #: of
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid ""
 ":py:obj:`NO_RENDERING "
 "<omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING>`\\"
 msgstr ""
 
 #: ../../docstring of
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 #: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid "No rendering, where only other UI elements are updated at a lower rate."
 msgstr ""
 
 #: of
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid ""
 ":py:obj:`PARTIAL_RENDERING "
 "<omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING>`\\"
 msgstr ""
 
 #: ../../docstring of
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 #: omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid ""
 "Partial rendering, where the simulation cameras and UI elements are "
 "updated."
 msgstr ""
 
 #: of
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid ""
 ":py:obj:`FULL_RENDERING "
 "<omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING>`\\"
 msgstr ""
 
 #: ../../docstring of
 #: omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING:1
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
+#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid ""
 "Full rendering, where all the simulation viewports, cameras and UI "
 "elements are updated."
 msgstr ""
 
+#: of
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
+msgid ""
+":py:obj:`__new__ "
+"<omni.isaac.lab.sim.SimulationContext.RenderMode.__new__>`\\ \\(value\\)"
+msgstr ""
+
 #: of omni.isaac.lab.sim.simulation_context.SimulationContext.__init__
 #: omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting
 #: omni.isaac.lab.sim.simulation_context.SimulationContext.render

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
@@ -1008,7 +1008,7 @@ 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