Fix: move video resolution

Author: mmichelis

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cloth_env_cfg.py

@@ -192,7 +192,7 @@ class FrankaClothRewardsCfg(FrankaSoftRewardsCfg):
 
     lifting_deformable = RewTerm(
         func=mdp.deformable_lifting,
-        params={"std": 0.1, "minimal_height": 0.1, "asset_cfg": SceneEntityCfg("deformable")},
+        params={"std": 0.1, "minimal_height": 0.08, "asset_cfg": SceneEntityCfg("deformable")},
         weight=5.0,
     )
 

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py

@@ -620,6 +620,12 @@ class FrankaSoftCameraSceneCfg(PresetCfg):
     default = newton_mjwarp_vbd_proxy
 
 
+@configclass
+class _FrankaSoftVisualizerCfg(VisualizerCfg):
+    window_width: int = 1920
+    window_height: int = 1080
+
+
 @configclass
 class FrankaSoftEnvCfg(ManagerBasedRLEnvCfg):
     """Manager-based RL environment: Franka Panda lifting a soft beam to a target pose."""
@@ -648,10 +654,10 @@ def __post_init__(self) -> None:
 
         self.viewer.eye = (0.75, 0.25, 0.65)
         self.viewer.lookat = (0.0, 0.75, 0.4)
-        self.sim.default_visualizer_cfg = VisualizerCfg(eye=self.viewer.eye, lookat=self.viewer.lookat)
-
-        self.video_recorder.window_width = 1920
-        self.video_recorder.window_height = 1080
+        self.sim.default_visualizer_cfg = _FrankaSoftVisualizerCfg(
+            eye=self.viewer.eye,
+            lookat=self.viewer.lookat,
+        )
 
     def play_mode(self):
         super().play_mode()