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sync: update isaac_sim from OM1-ros2-sdk (ea4be0c247e00b4ecea1bed8b44f0753d26253b7) #51

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sync: update isaac_sim from OM1-ros2-sdk (ea4be0c247e00b4ecea1bed8b44f0753d26253b7) #51

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Binary file modified isaac_sim/checkpoints/m20/exported/policy.pt
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4 changes: 2 additions & 2 deletions isaac_sim/checkpoints/m20/params/agent.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,13 +7,13 @@ obs_groups: {}
clip_actions: 100
check_for_nan: true
save_interval: 100
experiment_name: deeprobotics_m20_spinlearn3
experiment_name: deeprobotics_m20_spinlearn5
run_name: ''
logger: tensorboard
neptune_project: isaaclab
wandb_project: isaaclab
resume: true
load_run: 2026-07-19_04-05-44
load_run: 2026-07-27_14-54-11
load_checkpoint: model_10998.pt
class_name: OnPolicyRunner
actor:
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30 changes: 29 additions & 1 deletion isaac_sim/checkpoints/m20/params/env.yaml
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Expand Up @@ -1438,7 +1438,7 @@ rewards:
- null
- null
preserve_order: false
target_height: 0.4
target_height: 0.52
weight: -0.5
body_lin_acc_l2: null
joint_torques_l2:
Expand Down Expand Up @@ -2032,6 +2032,34 @@ rewards:
params:
command_name: base_velocity
weight: 0.0
joint_deviation_hipy_l1:
func: isaaclab.envs.mdp.rewards:joint_deviation_l1
params:
asset_cfg:
name: robot
joint_names:
- .*_hipy_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -0.25
terminations:
time_out:
func: isaaclab.envs.mdp.terminations:time_out
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