From 2aaf25810d5f7ab1231b789d0aac6c1c252d6b69 Mon Sep 17 00:00:00 2001 From: Michael Lin Date: Wed, 8 Oct 2025 14:14:05 -0700 Subject: [PATCH] removed unused parameter in nutpour and exhaust pipe envs --- .../manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py | 2 +- .../manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py index 488db92d0e7..2d7a69653fa 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py @@ -219,7 +219,7 @@ class TerminationsCfg: params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("blue_exhaust_pipe")}, ) - success = DoneTerm(func=mdp.task_done_exhaust_pipe, params={"relevant_link_name": "right_hand_roll_link"}) + success = DoneTerm(func=mdp.task_done_exhaust_pipe) @configclass diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py index 8467b67f39b..6aaf5defb38 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py @@ -246,7 +246,7 @@ class TerminationsCfg: func=mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("factory_nut")} ) - success = DoneTerm(func=mdp.task_done_nut_pour, params={"relevant_link_name": "right_hand_roll_link"}) + success = DoneTerm(func=mdp.task_done_nut_pour) @configclass