Fixes naming and shape issues in binary action commands (#25)

# Description

This MR fixes naming and shape issues in binary action commands. Previously the action term was not working.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Screenshots

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] 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
- [x] 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

source/extensions/omni.isaac.orbit/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.40"
+version = "0.9.41"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.9.41 (2023-11-16)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the naming and shaping issues in the binary joint action term.
+
+
 0.9.40 (2023-11-09)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/actions_cfg.py

@@ -91,9 +91,9 @@ class BinaryJointActionCfg(ActionTermCfg):
 
     joint_names: list[str] = MISSING
     """List of joint names or regex expressions that the action will be mapped to."""
-    open_command: dict[str, float] = MISSING
+    open_command_expr: dict[str, float] = MISSING
     """The joint command to move to *open* configuration."""
-    close_command: dict[str, float] = MISSING
+    close_command_expr: dict[str, float] = MISSING
     """The joint command to move to *close* configuration."""
 
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/binary_joint_actions.py

@@ -69,7 +69,7 @@ def __init__(self, cfg: actions_cfg.BinaryJointActionCfg, env: BaseEnv) -> None:
             raise ValueError(
                 f"Could not resolve all joints for the action term. Missing: {set(self._joint_names) - set(name_list)}"
             )
-        self._open_command[:, index_list] = torch.tensor(value_list, device=self.device)
+        self._open_command[index_list] = torch.tensor(value_list, device=self.device)
 
         # parse close command
         self._close_command = torch.zeros_like(self._open_command)
@@ -80,7 +80,7 @@ def __init__(self, cfg: actions_cfg.BinaryJointActionCfg, env: BaseEnv) -> None:
             raise ValueError(
                 f"Could not resolve all joints for the action term. Missing: {set(self._joint_names) - set(name_list)}"
             )
-        self._close_command[:, index_list] = torch.tensor(value_list, device=self.device)
+        self._close_command[index_list] = torch.tensor(value_list, device=self.device)
 
     """
     Properties.
@@ -108,10 +108,10 @@ def process_actions(self, actions: torch.Tensor):
         # compute the binary mask
         if actions.dtype == torch.bool:
             # true: close, false: open
-            binary_mask = (actions == 0).unsqueeze(1)
+            binary_mask = actions == 0
         else:
             # true: close, false: open
-            binary_mask = (actions < 0).unsqueeze(1)
+            binary_mask = actions < 0
         # compute the command
         self._processed_actions = torch.where(binary_mask, self._close_command, self._open_command)