Fixes action term in the reach environment (#710)

# Description

Fixes action term in the IK reach environment configurations.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

@@ -26,7 +26,7 @@ class FrankaReachEnvCfg(joint_pos_env_cfg.FrankaReachEnvCfg):
         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/reach/config/franka/ik_rel_env_cfg.py

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