Renames action term names inside manage-based lift env (#735)

# Description

This MR renames the action term names inside the manager-based
lift-manipulation task. Earlier, they were called
``body_joint_pos`` and ``gripper_joint_pos``. This made it confusing
since they were also being set to IK instead of joint position action
terms. Now, they are called ``arm_action`` and ``gripper_action``.

This makes it consistent with other manipulation tasks. 

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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.lab_tasks/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.7.10"
+version = "0.8.0"
 
 # Description
 title = "Isaac Lab Environments"

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

 Changelog
 ---------
 
+0.8.0 (2024-07-26)
+~~~~~~~~~~~~~~~~~~
+
+Removed
+^^^^^^^
+
+* Renamed the action term names inside the manager-based lift-manipulation task. Earlier, they were called
+  ``body_joint_pos`` and ``gripper_joint_pos``. Now, they are called ``arm_action`` and ``gripper_action``.
+
+
 0.7.10 (2024-07-02)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/cabinet_env_cfg.py

@@ -134,8 +134,8 @@ class CommandsCfg:
 class ActionsCfg:
     """Action specifications for the MDP."""
 
-    body_joint_pos: mdp.JointPositionActionCfg = MISSING
-    finger_joint_pos: mdp.BinaryJointPositionActionCfg = MISSING
+    arm_action: mdp.JointPositionActionCfg = MISSING
+    gripper_action: mdp.BinaryJointPositionActionCfg = MISSING
 
 
 @configclass

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/ik_abs_env_cfg.py

@@ -26,7 +26,7 @@ class FrankaCabinetEnvCfg(joint_pos_env_cfg.FrankaCabinetEnvCfg):
         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",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/ik_rel_env_cfg.py

@@ -26,7 +26,7 @@ class FrankaCabinetEnvCfg(joint_pos_env_cfg.FrankaCabinetEnvCfg):
         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",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py

@@ -30,13 +30,13 @@ class FrankaCabinetEnvCfg(CabinetEnvCfg):
         self.scene.robot = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set Actions for the specific robot type (franka)
-        self.actions.body_joint_pos = mdp.JointPositionActionCfg(
+        self.actions.arm_action = mdp.JointPositionActionCfg(
             asset_name="robot",
             joint_names=["panda_joint.*"],
             scale=1.0,
             use_default_offset=True,
         )
-        self.actions.finger_joint_pos = mdp.BinaryJointPositionActionCfg(
+        self.actions.gripper_action = mdp.BinaryJointPositionActionCfg(
             asset_name="robot",
             joint_names=["panda_finger.*"],
             open_command_expr={"panda_finger_.*": 0.04},

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py

@@ -26,7 +26,7 @@ class FrankaCubeLiftEnvCfg(joint_pos_env_cfg.FrankaCubeLiftEnvCfg):
         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",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py

@@ -26,7 +26,7 @@ class FrankaCubeLiftEnvCfg(joint_pos_env_cfg.FrankaCubeLiftEnvCfg):
         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",

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py

@@ -31,10 +31,10 @@ class FrankaCubeLiftEnvCfg(LiftEnvCfg):
         self.scene.robot = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
-        self.actions.body_joint_pos = mdp.JointPositionActionCfg(
+        self.actions.arm_action = mdp.JointPositionActionCfg(
             asset_name="robot", joint_names=["panda_joint.*"], scale=0.5, use_default_offset=True
         )
-        self.actions.finger_joint_pos = mdp.BinaryJointPositionActionCfg(
+        self.actions.gripper_action = mdp.BinaryJointPositionActionCfg(
             asset_name="robot",
             joint_names=["panda_finger.*"],
             open_command_expr={"panda_finger_.*": 0.04},

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/lift_env_cfg.py

@@ -88,8 +88,8 @@ class ActionsCfg:
     """Action specifications for the MDP."""
 
     # will be set by agent env cfg
-    body_joint_pos: mdp.JointPositionActionCfg = MISSING
-    finger_joint_pos: mdp.BinaryJointPositionActionCfg = MISSING
+    arm_action: mdp.JointPositionActionCfg = MISSING
+    gripper_action: mdp.BinaryJointPositionActionCfg = MISSING
 
 
 @configclass