Merge remote-tracking branch 'upstream/main' into main

.github/workflows/docs.yaml

@@ -3,45 +3,50 @@ name: Build & deploy docs
 on: [push]
 
 jobs:
+  build-docs:
+    name: Build Docs
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Setup python
+        uses: actions/setup-python@v2
+        with:
+          python-version: "3.10"
+          architecture: x64
+
+      - name: Install dev requirements
+        working-directory: ./docs
+        run: pip install -r requirements.txt
+
+      - name: Generate docs
+        working-directory: ./docs
+        run: make html
+
   check-secrets:
     name: Check secrets
     runs-on: ubuntu-latest
     outputs:
-      trigger-build: ${{ steps.trigger-build.outputs.defined }}
+      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
     steps:
-      - id: trigger-build
+      - id: trigger-deploy
         env:
           REPO_NAME: ${{ secrets.REPO_NAME }}
           BRANCH_REF: ${{ secrets.BRANCH_REF }}
         if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
         run: echo "defined=true" >> "$GITHUB_OUTPUT"
 
-  build-docs:
-    name: Build and deploy documentation
+  deploy-docs:
+    name: Deploy Docs
     runs-on: ubuntu-latest
-    needs: [check-secrets]
-    if: needs.check-secrets.outputs.trigger-build == 'true'
+    needs: [check-secrets, build-docs]
+    if: needs.check-secrets.outputs.trigger-deploy == 'true'
 
     steps:
-    - name: Checkout code
-      uses: actions/checkout@v2
-
-    - name: Setup python
-      uses: actions/setup-python@v2
-      with:
-        python-version: "3.10"
-        architecture: x64
-
-    - name: Install dev requirements
-      working-directory: ./docs
-      run: pip install -r requirements.txt
-
-    - name: Generate docs
-      working-directory: ./docs
-      run: make html
-
-    - name: Deploy to gh-pages
-      uses: peaceiris/actions-gh-pages@v3
-      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        publish_dir: ./docs/_build/html
+      - name: Deploy to gh-pages
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/_build/html

docs/conf.py

@@ -127,6 +127,7 @@
     "warp",
     "pxr",
     "omni.kit",
+    "omni.log",
     "omni.usd",
     "omni.client",
     "omni.physx",

source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py

@@ -221,7 +221,10 @@ def _parse_joint_parameter(
                 # note: need to specify type to be safe (e.g. values are ints, but we want floats)
                 param[:, indices] = torch.tensor(values, dtype=torch.float, device=self._device)
             else:
-                raise TypeError(f"Invalid type for parameter value: {type(cfg_value)}. Expected float or dict.")
+                raise TypeError(
+                    f"Invalid type for parameter value: {type(cfg_value)} for "
+                    + f"actuator on joints {self.joint_names}. Expected float or dict."
+                )
         elif default_value is not None:
             if isinstance(default_value, (float, int)):
                 # if float, then use the same value for all joints
@@ -230,7 +233,10 @@ def _parse_joint_parameter(
                 # if tensor, then use the same tensor for all joints
                 param[:] = default_value.float()
             else:
-                raise TypeError(f"Invalid type for default value: {type(default_value)}. Expected float or Tensor.")
+                raise TypeError(
+                    f"Invalid type for default value: {type(default_value)} for "
+                    + f"actuator on joints {self.joint_names}. Expected float or Tensor."
+                )
         else:
             raise ValueError("The parameter value is None and no default value is provided.")