Upload 4 files

model_1000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0411c87d0050e1a6d56fcf23fc38f65652c650cee4bd7b55a216d8d84e540524
+size 1242805

model_1999.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a42dca235f666f62b7a98b6f9e58de7a3a820f1f463aa5125f81b9b846fdef9
+size 1242805

params/agent.yaml

@@ -1,17 +1,18 @@
 seed: 42
 device: cuda:0
 num_steps_per_env: 24
-max_iterations: 10000
-empirical_normalization: null
+max_iterations: 2000
+empirical_normalization: {}
 obs_groups:
-  policy:
+  actor:
   - policy
   - task_obs
   critic:
   - policy
   - task_obs
 clip_actions: null
-save_interval: 200
+check_for_nan: true
+save_interval: 100
 experiment_name: generic_experiment
 run_name: ''
 logger: tensorboard
@@ -21,22 +22,27 @@ resume: false
 load_run: .*
 load_checkpoint: model_.*.pt
 class_name: OnPolicyRunner
-policy:
-  class_name: ActorCritic
-  init_noise_std: 1.0
-  noise_std_type: scalar
-  state_dependent_std: false
-  actor_obs_normalization: false
-  critic_obs_normalization: false
-  actor_hidden_dims:
+actor:
+  class_name: MLPModel
+  hidden_dims:
   - 256
   - 128
   - 64
-  critic_hidden_dims:
+  activation: elu
+  obs_normalization: false
+  distribution_cfg:
+    class_name: GaussianDistribution
+    init_std: 1.0
+    std_type: scalar
+critic:
+  class_name: MLPModel
+  hidden_dims:
   - 256
   - 128
   - 64
   activation: elu
+  obs_normalization: false
+  distribution_cfg: null
 algorithm:
   class_name: PPO
   num_learning_epochs: 5
@@ -48,9 +54,12 @@ algorithm:
   entropy_coef: 0.006
   desired_kl: 0.01
   max_grad_norm: 1.0
+  optimizer: adam
   value_loss_coef: 1.0
   use_clipped_value_loss: true
   clip_param: 0.2
   normalize_advantage_per_mini_batch: false
+  share_cnn_encoders: false
   rnd_cfg: null
   symmetry_cfg: null
+policy: {}

params/env.yaml

@@ -16,23 +16,34 @@ viewer:
   asset_name: null
   body_name: null
 sim:
-  physics_prim_path: /physicsScene
   device: cuda:0
-  dt: 0.005
-  render_interval: 2
+  dt: 0.01
   gravity: !!python/tuple
   - 0.0
   - 0.0
   - -9.81
-  enable_scene_query_support: false
+  physics_prim_path: /physicsScene
+  physics_material:
+    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
+    static_friction: 0.5
+    dynamic_friction: 0.5
+    restitution: 0.0
+    friction_combine_mode: average
+    restitution_combine_mode: average
+    compliant_contact_stiffness: 0.0
+    compliant_contact_damping: 0.0
   use_fabric: true
-  physx:
+  render_interval: 2
+  enable_scene_query_support: false
+  physics:
+    class_type: isaaclab_physx.physics.physx_manager:PhysxManager
     solver_type: 1
     solve_articulation_contact_last: false
     min_position_iteration_count: 1
     max_position_iteration_count: 255
     min_velocity_iteration_count: 0
     max_velocity_iteration_count: 255
+    enable_scene_query_support: false
     enable_ccd: false
     enable_stabilization: false
     enable_external_forces_every_iteration: false
@@ -51,15 +62,6 @@ sim:
     gpu_max_num_partitions: 8
     gpu_max_soft_body_contacts: 1048576
     gpu_max_particle_contacts: 1048576
-  physics_material:
-    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
-    static_friction: 0.5
-    dynamic_friction: 0.5
-    restitution: 0.0
-    friction_combine_mode: average
-    restitution_combine_mode: average
-    compliant_contact_stiffness: 0.0
-    compliant_contact_damping: 0.0
   render:
     enable_translucency: null
     enable_reflections: null
@@ -79,11 +81,12 @@ sim:
   logging_level: WARNING
   save_logs_to_file: true
   log_dir: null
+  visualizer_cfgs: []
 ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
 seed: 42
-decimation: 4
+decimation: 2
 scene:
-  num_envs: 512
+  num_envs: 4096
   env_spacing: 30.0
   lazy_sensor_update: true
   replicate_physics: false
@@ -97,6 +100,7 @@ scene:
       visible: true
       semantic_tags: null
       copy_from_source: true
+      spawn_path: /World/template/table/proto_asset_.*
       mass_props: null
       deformable_props: null
       rigid_props: null
@@ -112,7 +116,7 @@ scene:
       joint_drive_props: null
       visual_material_path: material
       visual_material: null
-      usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
+      usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
       variants: null
     init_state:
       pos: !!python/tuple
@@ -120,10 +124,10 @@ scene:
       - 0
       - 0
       rot: !!python/tuple
-      - 0.707
       - 0
       - 0
       - 0.707
+      - 0.707
     collision_group: 0
     debug_vis: false
   dex_cube:
@@ -134,6 +138,7 @@ scene:
       visible: true
       semantic_tags: null
       copy_from_source: true
+      spawn_path: /World/template/dex_cube/proto_asset_.*
       mass_props: null
       deformable_props: null
       rigid_props: null
@@ -149,7 +154,7 @@ scene:
       joint_drive_props: null
       visual_material_path: material
       visual_material: null
-      usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
+      usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
       variants: null
     init_state:
       pos: !!python/tuple
@@ -157,10 +162,10 @@ scene:
       - 0
       - 0.055
       rot: !!python/tuple
-      - 1
       - 0
       - 0
       - 0
+      - 1
       lin_vel: !!python/tuple
       - 0.0
       - 0.0
@@ -179,7 +184,8 @@ scene:
       visible: true
       semantic_tags: null
       copy_from_source: true
-      usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Environments/Grid/default_environment.usd
+      spawn_path: /World/GroundPlane
+      usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd
       color: !!python/tuple
       - 0.0
       - 0.0
@@ -202,10 +208,10 @@ scene:
       - 0.0
       - -1.05
       rot: !!python/tuple
-      - 1.0
       - 0.0
       - 0.0
       - 0.0
+      - 1.0
     collision_group: 0
     debug_vis: false
   light:
@@ -216,6 +222,7 @@ scene:
       visible: true
       semantic_tags: null
       copy_from_source: true
+      spawn_path: /World/Light
       prim_type: DomeLight
       color: !!python/tuple
       - 0.75
@@ -235,10 +242,10 @@ scene:
       - 0.0
       - 0.0
       rot: !!python/tuple
-      - 1.0
       - 0.0
       - 0.0
       - 0.0
+      - 1.0
     collision_group: 0
     debug_vis: false
   robot:
@@ -249,12 +256,13 @@ scene:
       visible: true
       semantic_tags: null
       copy_from_source: true
+      spawn_path: /World/template/Robot/proto_asset_.*
       mass_props: null
       deformable_props: null
       rigid_props:
         rigid_body_enabled: null
         kinematic_enabled: null
-        disable_gravity: true
+        disable_gravity: false
         linear_damping: null
         angular_damping: null
         max_linear_velocity: null
@@ -291,10 +299,10 @@ scene:
       - 0.0
       - 0.0
       rot: !!python/tuple
-      - 1.0
       - 0.0
       - 0.0
       - 0.0
+      - 1.0
       lin_vel: !!python/tuple
       - 0.0
       - 0.0
@@ -327,9 +335,9 @@ scene:
         velocity_limit: null
         effort_limit_sim: 87.0
         velocity_limit_sim: null
-        stiffness: 400.0
-        damping: 80.0
-        armature: null
+        stiffness: 80.0
+        damping: 4.0
+        armature: 0.001
         friction: null
         dynamic_friction: null
         viscous_friction: null
@@ -341,9 +349,9 @@ scene:
         velocity_limit: null
         effort_limit_sim: 12.0
         velocity_limit_sim: null
-        stiffness: 400.0
-        damping: 80.0
-        armature: null
+        stiffness: 80.0
+        damping: 4.0
+        armature: 0.001
         friction: null
         dynamic_friction: null
         viscous_friction: null
@@ -366,7 +374,6 @@ scene:
     class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
     prim_path: /World/envs/env_.*/Robot/panda_link0
     update_period: 0.0
-    history_length: 0
     debug_vis: false
     source_frame_offset:
       pos: !!python/tuple
@@ -374,10 +381,10 @@ scene:
       - 0.0
       - 0.0
       rot: !!python/tuple
-      - 1.0
       - 0.0
       - 0.0
       - 0.0
+      - 1.0
     target_frames:
     - prim_path: /World/envs/env_.*/Robot/panda_hand
       name: end_effector
@@ -387,10 +394,10 @@ scene:
         - 0.0
         - 0.1034
         rot: !!python/tuple
-        - 1.0
         - 0.0
         - 0.0
         - 0.0
+        - 1.0
     - prim_path: /World/envs/env_.*/Robot/panda_rightfinger
       name: tool_rightfinger
       offset:
@@ -399,10 +406,10 @@ scene:
         - 0.0
         - 0.046
         rot: !!python/tuple
-        - 1.0
         - 0.0
         - 0.0
         - 0.0
+        - 1.0
     - prim_path: /World/envs/env_.*/Robot/panda_leftfinger
       name: tool_leftfinger
       offset:
@@ -411,10 +418,10 @@ scene:
         - 0.0
         - 0.046
         rot: !!python/tuple
-        - 1.0
         - 0.0
         - 0.0
         - 0.0
+        - 1.0
     visualizer_cfg:
       prim_path: /Visuals/FrameTransformer
       markers:
@@ -423,6 +430,7 @@ scene:
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           deformable_props: null
           rigid_props: null
@@ -438,13 +446,14 @@ scene:
           joint_drive_props: null
           visual_material_path: material
           visual_material: null
-          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+          usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
           variants: null
         connecting_line:
           func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           rigid_props: null
           collision_props: null
@@ -471,7 +480,7 @@ scene:
 recorders:
   dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
   dataset_export_dir_path: /tmp/isaaclab/logs
-  dataset_filename: dataset_20260326_084103_rank0
+  dataset_filename: dataset_20260401_130737_rank0
   dataset_export_mode:
     _value_: 1
     _name_: EXPORT_ALL
@@ -481,6 +490,12 @@ recorders:
   success_rate:
     class_type: isaaclab_arena.metrics.success_rate:SuccessRecorder
     name: success
+  min_goal_distance:
+    class_type: isaaclab_arena.metrics.min_goal_distance:MinGoalDistanceRecorder
+    name: min_goal_distance
+    robot_name: robot
+    object_name: dex_cube
+    command_name: object_pose
 observations:
   policy:
     concatenate_terms: true
@@ -488,15 +503,6 @@ observations:
     enable_corruption: false
     history_length: null
     flatten_history_dim: true
-    actions:
-      func: isaaclab.envs.mdp.observations:last_action
-      params: {}
-      modifiers: null
-      noise: null
-      clip: null
-      scale: null
-      history_length: 0
-      flatten_history_dim: true
     joint_pos:
       func: isaaclab.envs.mdp.observations:joint_pos_rel
       params: {}
@@ -515,49 +521,12 @@ observations:
       scale: null
       history_length: 0
       flatten_history_dim: true
-    eef_pos:
-      func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos
-      params: {}
-      modifiers: null
-      noise: null
-      clip: null
-      scale: null
-      history_length: 0
-      flatten_history_dim: true
-    eef_quat:
-      func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat
-      params: {}
-      modifiers: null
-      noise: null
-      clip: null
-      scale: null
-      history_length: 0
-      flatten_history_dim: true
-    gripper_pos:
-      func: isaaclab_arena.embodiments.franka.observations:gripper_pos
-      params: {}
-      modifiers: null
-      noise: null
-      clip: null
-      scale: null
-      history_length: 0
-      flatten_history_dim: true
   task_obs:
     concatenate_terms: true
     concatenate_dim: -1
     enable_corruption: false
     history_length: null
     flatten_history_dim: true
-    target_object_position:
-      func: isaaclab.envs.mdp.observations:generated_commands
-      params:
-        command_name: object_pose
-      modifiers: null
-      noise: null
-      clip: null
-      scale: null
-      history_length: 0
-      flatten_history_dim: true
     object_position:
       func: isaaclab_arena.tasks.observations.observations:object_position_in_frame
       params:
@@ -613,33 +582,37 @@ observations:
       scale: null
       history_length: 0
       flatten_history_dim: true
+    target_object_position:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: object_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
 actions:
   arm_action:
-    class_type: isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction
+    class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
     asset_name: robot
     debug_vis: false
     clip: null
     joint_names:
     - panda_joint.*
-    body_name: panda_hand
-    body_offset:
-      pos:
-      - 0.0
-      - 0.0
-      - 0.107
-      rot: !!python/tuple
-      - 1.0
-      - 0.0
-      - 0.0
-      - 0.0
     scale: 0.5
-    controller:
-      class_type: isaaclab.controllers.differential_ik:DifferentialIKController
-      command_type: pose
-      use_relative_mode: true
-      ik_method: dls
-      ik_params:
-        lambda_val: 0.01
+    offset: 0.0
+    preserve_order: false
+    use_default_offset: true
   gripper_action:
     class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction
     asset_name: robot
@@ -657,12 +630,12 @@ events:
     params:
       default_pose:
       - 0.0
-      - -0.785
-      - -0.1107
-      - -1.1775
+      - -0.569
       - 0.0
-      - 0.785
-      - 0.785
+      - -2.81
+      - 0.0
+      - 3.037
+      - 0.741
       - 0.04
       - 0.04
     mode: reset
@@ -709,11 +682,11 @@ events:
         - 0.5
         - 0
         - 0.055
-        rotation_wxyz: !!python/tuple
-        - 1
+        rotation_xyzw: !!python/tuple
         - 0
         - 0
         - 0
+        - 1
       asset_cfg:
         name: dex_cube
         joint_names: null
@@ -746,9 +719,11 @@ rerender_on_reset: false
 num_rerenders_on_reset: 0
 wait_for_textures: false
 xr: null
-teleop_devices: null
+teleop_devices:
+  devices: {}
+isaac_teleop: null
 export_io_descriptors: false
-log_dir: /workspaces/isaaclab_arena/logs/rsl_rl/generic_experiment/2026-03-26_08-41-05
+log_dir: /workspaces/isaaclab_arena/logs/rsl_rl/generic_experiment/2026-04-01_13-07-40
 is_finite_horizon: false
 episode_length_s: 5.0
 rewards:
@@ -1027,6 +1002,29 @@ terminations:
         - null
         - null
         preserve_order: false
+      robot_cfg:
+        name: robot
+        joint_names: null
+        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
       rl_training: true
       command_name: object_pose
       position_tolerance: 0.05
@@ -1069,6 +1067,7 @@ commands:
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           deformable_props: null
           rigid_props: null
@@ -1084,13 +1083,14 @@ commands:
           joint_drive_props: null
           visual_material_path: material
           visual_material: null
-          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+          usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
           variants: null
         connecting_line:
           func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           rigid_props: null
           collision_props: null
@@ -1122,6 +1122,7 @@ commands:
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           deformable_props: null
           rigid_props: null
@@ -1137,13 +1138,14 @@ commands:
           joint_drive_props: null
           visual_material_path: material
           visual_material: null
-          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+          usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
           variants: null
         connecting_line:
           func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           rigid_props: null
           collision_props: null
@@ -1169,6 +1171,9 @@ commands:
           axis: Z
 metrics:
 - {}
+- _robot_name: robot
+  _object_name: dex_cube
+  _command_name: object_pose
 isaaclab_arena_env:
   name: lift_object
   scene:
@@ -1187,11 +1192,11 @@ isaaclab_arena_env:
           - 0.5
           - 0
           - 0
-          rotation_wxyz: !!python/tuple
-          - 0.707
+          rotation_xyzw: !!python/tuple
           - 0
           - 0
           - 0.707
+          - 0.707
         initial_velocity: null
         object_cfg:
           class_type: null
@@ -1201,6 +1206,7 @@ isaaclab_arena_env:
             visible: true
             semantic_tags: null
             copy_from_source: true
+            spawn_path: null
             mass_props: null
             deformable_props: null
             rigid_props: null
@@ -1216,7 +1222,7 @@ isaaclab_arena_env:
             joint_drive_props: null
             visual_material_path: material
             visual_material: null
-            usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
+            usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
             variants: null
           init_state:
             pos: !!python/tuple
@@ -1224,15 +1230,15 @@ isaaclab_arena_env:
             - 0
             - 0
             rot: !!python/tuple
-            - 0.707
             - 0
             - 0
             - 0.707
+            - 0.707
           collision_group: 0
           debug_vis: false
         event_cfg: null
         relations: []
-        usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
+        usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
         scale: !!python/tuple
         - 1.0
         - 1.0
@@ -1256,11 +1262,11 @@ isaaclab_arena_env:
           - 0.5
           - 0
           - 0.055
-          rotation_wxyz: !!python/tuple
-          - 1
+          rotation_xyzw: !!python/tuple
           - 0
           - 0
           - 0
+          - 1
         initial_velocity: null
         object_cfg:
           class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
@@ -1270,6 +1276,7 @@ isaaclab_arena_env:
             visible: true
             semantic_tags: null
             copy_from_source: true
+            spawn_path: null
             mass_props: null
             deformable_props: null
             rigid_props: null
@@ -1285,7 +1292,7 @@ isaaclab_arena_env:
             joint_drive_props: null
             visual_material_path: material
             visual_material: null
-            usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
+            usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
             variants: null
           init_state:
             pos: !!python/tuple
@@ -1293,10 +1300,10 @@ isaaclab_arena_env:
             - 0
             - 0.055
             rot: !!python/tuple
-            - 1
             - 0
             - 0
             - 0
+            - 1
             lin_vel: !!python/tuple
             - 0.0
             - 0.0
@@ -1315,11 +1322,11 @@ isaaclab_arena_env:
               - 0.5
               - 0
               - 0.055
-              rotation_wxyz: !!python/tuple
-              - 1
+              rotation_xyzw: !!python/tuple
               - 0
               - 0
               - 0
+              - 1
             asset_cfg:
               name: dex_cube
               joint_names: null
@@ -1349,7 +1356,7 @@ isaaclab_arena_env:
           is_global_time: false
           min_step_count_between_reset: 0
         relations: []
-        usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
+        usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
         scale: !!python/tuple
         - 0.8
         - 0.8
@@ -1364,7 +1371,8 @@ isaaclab_arena_env:
           visible: true
           semantic_tags: null
           copy_from_source: true
-          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Environments/Grid/default_environment.usd
+          spawn_path: null
+          usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd
           color: !!python/tuple
           - 0.0
           - 0.0
@@ -1394,11 +1402,11 @@ isaaclab_arena_env:
           - 0.0
           - 0.0
           - -1.05
-          rotation_wxyz: !!python/tuple
-          - 1.0
+          rotation_xyzw: !!python/tuple
           - 0.0
           - 0.0
           - 0.0
+          - 1.0
         initial_velocity: null
         object_cfg:
           class_type: null
@@ -1408,7 +1416,8 @@ isaaclab_arena_env:
             visible: true
             semantic_tags: null
             copy_from_source: true
-            usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Environments/Grid/default_environment.usd
+            spawn_path: null
+            usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd
             color: !!python/tuple
             - 0.0
             - 0.0
@@ -1431,10 +1440,10 @@ isaaclab_arena_env:
             - 0.0
             - -1.05
             rot: !!python/tuple
-            - 1.0
             - 0.0
             - 0.0
             - 0.0
+            - 1.0
           collision_group: 0
           debug_vis: false
         event_cfg: null
@@ -1454,6 +1463,7 @@ isaaclab_arena_env:
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           prim_type: DomeLight
           color: !!python/tuple
           - 0.75
@@ -1485,6 +1495,7 @@ isaaclab_arena_env:
             visible: true
             semantic_tags: null
             copy_from_source: true
+            spawn_path: null
             prim_type: DomeLight
             color: !!python/tuple
             - 0.75
@@ -1504,10 +1515,10 @@ isaaclab_arena_env:
             - 0.0
             - 0.0
             rot: !!python/tuple
-            - 1.0
             - 0.0
             - 0.0
             - 0.0
+            - 1.0
           collision_group: 0
           debug_vis: false
         event_cfg: null
@@ -1544,12 +1555,13 @@ isaaclab_arena_env:
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           deformable_props: null
           rigid_props:
             rigid_body_enabled: null
             kinematic_enabled: null
-            disable_gravity: true
+            disable_gravity: false
             linear_damping: null
             angular_damping: null
             max_linear_velocity: null
@@ -1586,10 +1598,10 @@ isaaclab_arena_env:
           - 0.0
           - 0.0
           rot: !!python/tuple
-          - 1.0
           - 0.0
           - 0.0
           - 0.0
+          - 1.0
           lin_vel: !!python/tuple
           - 0.0
           - 0.0
@@ -1622,9 +1634,9 @@ isaaclab_arena_env:
             velocity_limit: null
             effort_limit_sim: 87.0
             velocity_limit_sim: null
-            stiffness: 400.0
-            damping: 80.0
-            armature: null
+            stiffness: 80.0
+            damping: 4.0
+            armature: 0.001
             friction: null
             dynamic_friction: null
             viscous_friction: null
@@ -1636,9 +1648,9 @@ isaaclab_arena_env:
             velocity_limit: null
             effort_limit_sim: 12.0
             velocity_limit_sim: null
-            stiffness: 400.0
-            damping: 80.0
-            armature: null
+            stiffness: 80.0
+            damping: 4.0
+            armature: 0.001
             friction: null
             dynamic_friction: null
             viscous_friction: null
@@ -1661,7 +1673,6 @@ isaaclab_arena_env:
         class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
         prim_path: '{ENV_REGEX_NS}/Robot/panda_link0'
         update_period: 0.0
-        history_length: 0
         debug_vis: false
         source_frame_offset:
           pos: !!python/tuple
@@ -1669,10 +1680,10 @@ isaaclab_arena_env:
           - 0.0
           - 0.0
           rot: !!python/tuple
-          - 1.0
           - 0.0
           - 0.0
           - 0.0
+          - 1.0
         target_frames:
         - prim_path: '{ENV_REGEX_NS}/Robot/panda_hand'
           name: end_effector
@@ -1682,10 +1693,10 @@ isaaclab_arena_env:
             - 0.0
             - 0.1034
             rot: !!python/tuple
-            - 1.0
             - 0.0
             - 0.0
             - 0.0
+            - 1.0
         - prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger'
           name: tool_rightfinger
           offset:
@@ -1694,10 +1705,10 @@ isaaclab_arena_env:
             - 0.0
             - 0.046
             rot: !!python/tuple
-            - 1.0
             - 0.0
             - 0.0
             - 0.0
+            - 1.0
         - prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger'
           name: tool_leftfinger
           offset:
@@ -1706,10 +1717,10 @@ isaaclab_arena_env:
             - 0.0
             - 0.046
             rot: !!python/tuple
-            - 1.0
             - 0.0
             - 0.0
             - 0.0
+            - 1.0
         visualizer_cfg:
           prim_path: /Visuals/FrameTransformer
           markers:
@@ -1718,6 +1729,7 @@ isaaclab_arena_env:
               visible: true
               semantic_tags: null
               copy_from_source: true
+              spawn_path: null
               mass_props: null
               deformable_props: null
               rigid_props: null
@@ -1733,13 +1745,14 @@ isaaclab_arena_env:
               joint_drive_props: null
               visual_material_path: material
               visual_material: null
-              usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+              usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
               variants: null
             connecting_line:
               func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
               visible: true
               semantic_tags: null
               copy_from_source: true
+              spawn_path: null
               mass_props: null
               rigid_props: null
               collision_props: null
@@ -1768,7 +1781,6 @@ isaaclab_arena_env:
         class_type: isaaclab.sensors.camera.camera:Camera
         prim_path: '{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam'
         update_period: 0.0
-        history_length: 0
         debug_vis: false
         offset:
           pos: !!python/tuple
@@ -1776,16 +1788,17 @@ isaaclab_arena_env:
           - -0.031
           - -0.074
           rot: !!python/tuple
-          - -0.74896
           - 0.0
           - 0.0
           - -0.66262
+          - -0.74896
           convention: ros
         spawn:
           func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           projection_type: pinhole
           clipping_range: !!python/tuple
           - 0.01
@@ -1809,44 +1822,31 @@ isaaclab_arena_env:
         colorize_instance_id_segmentation: true
         colorize_instance_segmentation: true
         semantic_segmentation_mapping: {}
+        renderer_cfg:
+          renderer_type: isaac_rtx
       _is_tiled_camera: false
       _camera_offset:
         position_xyz: !!python/tuple
         - 0.11
         - -0.031
         - -0.074
-        rotation_wxyz: !!python/tuple
-        - -0.74896
+        rotation_xyzw: !!python/tuple
         - 0.0
         - 0.0
         - -0.66262
+        - -0.74896
     action_config:
       arm_action:
-        class_type: isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction
+        class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
         asset_name: robot
         debug_vis: false
         clip: null
         joint_names:
         - panda_joint.*
-        body_name: panda_hand
-        body_offset:
-          pos:
-          - 0.0
-          - 0.0
-          - 0.107
-          rot: !!python/tuple
-          - 1.0
-          - 0.0
-          - 0.0
-          - 0.0
         scale: 0.5
-        controller:
-          class_type: isaaclab.controllers.differential_ik:DifferentialIKController
-          command_type: pose
-          use_relative_mode: true
-          ik_method: dls
-          ik_params:
-            lambda_val: 0.01
+        offset: 0.0
+        preserve_order: false
+        use_default_offset: true
       gripper_action:
         class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction
         asset_name: robot
@@ -1865,15 +1865,6 @@ isaaclab_arena_env:
         enable_corruption: false
         history_length: null
         flatten_history_dim: true
-        actions:
-          func: isaaclab.envs.mdp.observations:last_action
-          params: {}
-          modifiers: null
-          noise: null
-          clip: null
-          scale: null
-          history_length: 0
-          flatten_history_dim: true
         joint_pos:
           func: isaaclab.envs.mdp.observations:joint_pos_rel
           params: {}
@@ -1892,45 +1883,18 @@ isaaclab_arena_env:
           scale: null
           history_length: 0
           flatten_history_dim: true
-        eef_pos:
-          func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos
-          params: {}
-          modifiers: null
-          noise: null
-          clip: null
-          scale: null
-          history_length: 0
-          flatten_history_dim: true
-        eef_quat:
-          func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat
-          params: {}
-          modifiers: null
-          noise: null
-          clip: null
-          scale: null
-          history_length: 0
-          flatten_history_dim: true
-        gripper_pos:
-          func: isaaclab_arena.embodiments.franka.observations:gripper_pos
-          params: {}
-          modifiers: null
-          noise: null
-          clip: null
-          scale: null
-          history_length: 0
-          flatten_history_dim: true
     event_config:
       init_franka_arm_pose:
         func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose
         params:
           default_pose:
           - 0.0
-          - -0.785
-          - -0.1107
-          - -1.1775
+          - -0.569
           - 0.0
-          - 0.785
-          - 0.785
+          - -2.81
+          - 0.0
+          - 3.037
+          - 0.741
           - 0.04
           - 0.04
         mode: reset
@@ -2034,11 +1998,11 @@ isaaclab_arena_env:
         - 0.5
         - 0
         - 0.055
-        rotation_wxyz: !!python/tuple
-        - 1
+        rotation_xyzw: !!python/tuple
         - 0
         - 0
         - 0
+        - 1
       initial_velocity: null
       object_cfg:
         class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
@@ -2048,6 +2012,7 @@ isaaclab_arena_env:
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           deformable_props: null
           rigid_props: null
@@ -2063,7 +2028,7 @@ isaaclab_arena_env:
           joint_drive_props: null
           visual_material_path: material
           visual_material: null
-          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
+          usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
           variants: null
         init_state:
           pos: !!python/tuple
@@ -2071,10 +2036,10 @@ isaaclab_arena_env:
           - 0
           - 0.055
           rot: !!python/tuple
-          - 1
           - 0
           - 0
           - 0
+          - 1
           lin_vel: !!python/tuple
           - 0.0
           - 0.0
@@ -2093,11 +2058,11 @@ isaaclab_arena_env:
             - 0.5
             - 0
             - 0.055
-            rotation_wxyz: !!python/tuple
-            - 1
+            rotation_xyzw: !!python/tuple
             - 0
             - 0
             - 0
+            - 1
           asset_cfg:
             name: dex_cube
             joint_names: null
@@ -2115,7 +2080,7 @@ isaaclab_arena_env:
         is_global_time: false
         min_step_count_between_reset: 0
       relations: []
-      usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
+      usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
       scale: !!python/tuple
       - 0.8
       - 0.8
@@ -2138,11 +2103,11 @@ isaaclab_arena_env:
         - 0.5
         - 0
         - 0
-        rotation_wxyz: !!python/tuple
-        - 0.707
+        rotation_xyzw: !!python/tuple
         - 0
         - 0
         - 0.707
+        - 0.707
       initial_velocity: null
       object_cfg:
         class_type: null
@@ -2152,6 +2117,7 @@ isaaclab_arena_env:
           visible: true
           semantic_tags: null
           copy_from_source: true
+          spawn_path: null
           mass_props: null
           deformable_props: null
           rigid_props: null
@@ -2167,7 +2133,7 @@ isaaclab_arena_env:
           joint_drive_props: null
           visual_material_path: material
           visual_material: null
-          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
+          usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
           variants: null
         init_state:
           pos: !!python/tuple
@@ -2175,15 +2141,15 @@ isaaclab_arena_env:
           - 0
           - 0
           rot: !!python/tuple
-          - 0.707
           - 0
           - 0
           - 0.707
+          - 0.707
         collision_group: 0
         debug_vis: false
       event_cfg: null
       relations: []
-      usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
+      usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
       scale: !!python/tuple
       - 1.0
       - 1.0
@@ -2259,6 +2225,29 @@ isaaclab_arena_env:
             - null
             - null
             preserve_order: false
+          robot_cfg:
+            name: robot
+            joint_names: null
+            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
           rl_training: true
           command_name: object_pose
           position_tolerance: 0.05
@@ -2280,12 +2269,13 @@ isaaclab_arena_env:
             visible: true
             semantic_tags: null
             copy_from_source: true
+            spawn_path: null
             mass_props: null
             deformable_props: null
             rigid_props:
               rigid_body_enabled: null
               kinematic_enabled: null
-              disable_gravity: true
+              disable_gravity: false
               linear_damping: null
               angular_damping: null
               max_linear_velocity: null
@@ -2322,10 +2312,10 @@ isaaclab_arena_env:
             - 0.0
             - 0.0
             rot: !!python/tuple
-            - 1.0
             - 0.0
             - 0.0
             - 0.0
+            - 1.0
             lin_vel: !!python/tuple
             - 0.0
             - 0.0
@@ -2358,9 +2348,9 @@ isaaclab_arena_env:
               velocity_limit: null
               effort_limit_sim: 87.0
               velocity_limit_sim: null
-              stiffness: 400.0
-              damping: 80.0
-              armature: null
+              stiffness: 80.0
+              damping: 4.0
+              armature: 0.001
               friction: null
               dynamic_friction: null
               viscous_friction: null
@@ -2372,9 +2362,9 @@ isaaclab_arena_env:
               velocity_limit: null
               effort_limit_sim: 12.0
               velocity_limit_sim: null
-              stiffness: 400.0
-              damping: 80.0
-              armature: null
+              stiffness: 80.0
+              damping: 4.0
+              armature: 0.001
               friction: null
               dynamic_friction: null
               viscous_friction: null
@@ -2397,7 +2387,6 @@ isaaclab_arena_env:
           class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
           prim_path: '{ENV_REGEX_NS}/Robot/panda_link0'
           update_period: 0.0
-          history_length: 0
           debug_vis: false
           source_frame_offset:
             pos: !!python/tuple
@@ -2405,10 +2394,10 @@ isaaclab_arena_env:
             - 0.0
             - 0.0
             rot: !!python/tuple
-            - 1.0
             - 0.0
             - 0.0
             - 0.0
+            - 1.0
           target_frames:
           - prim_path: '{ENV_REGEX_NS}/Robot/panda_hand'
             name: end_effector
@@ -2418,10 +2407,10 @@ isaaclab_arena_env:
               - 0.0
               - 0.1034
               rot: !!python/tuple
-              - 1.0
               - 0.0
               - 0.0
               - 0.0
+              - 1.0
           - prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger'
             name: tool_rightfinger
             offset:
@@ -2430,10 +2419,10 @@ isaaclab_arena_env:
               - 0.0
               - 0.046
               rot: !!python/tuple
-              - 1.0
               - 0.0
               - 0.0
               - 0.0
+              - 1.0
           - prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger'
             name: tool_leftfinger
             offset:
@@ -2442,10 +2431,10 @@ isaaclab_arena_env:
               - 0.0
               - 0.046
               rot: !!python/tuple
-              - 1.0
               - 0.0
               - 0.0
               - 0.0
+              - 1.0
           visualizer_cfg:
             prim_path: /Visuals/FrameTransformer
             markers:
@@ -2454,6 +2443,7 @@ isaaclab_arena_env:
                 visible: true
                 semantic_tags: null
                 copy_from_source: true
+                spawn_path: null
                 mass_props: null
                 deformable_props: null
                 rigid_props: null
@@ -2469,13 +2459,14 @@ isaaclab_arena_env:
                 joint_drive_props: null
                 visual_material_path: material
                 visual_material: null
-                usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+                usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
                 variants: null
               connecting_line:
                 func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
                 visible: true
                 semantic_tags: null
                 copy_from_source: true
+                spawn_path: null
                 mass_props: null
                 rigid_props: null
                 collision_props: null
@@ -2504,7 +2495,6 @@ isaaclab_arena_env:
           class_type: isaaclab.sensors.camera.camera:Camera
           prim_path: '{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam'
           update_period: 0.0
-          history_length: 0
           debug_vis: false
           offset:
             pos: !!python/tuple
@@ -2512,16 +2502,17 @@ isaaclab_arena_env:
             - -0.031
             - -0.074
             rot: !!python/tuple
-            - -0.74896
             - 0.0
             - 0.0
             - -0.66262
+            - -0.74896
             convention: ros
           spawn:
             func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
             visible: true
             semantic_tags: null
             copy_from_source: true
+            spawn_path: null
             projection_type: pinhole
             clipping_range: !!python/tuple
             - 0.01
@@ -2545,44 +2536,31 @@ isaaclab_arena_env:
           colorize_instance_id_segmentation: true
           colorize_instance_segmentation: true
           semantic_segmentation_mapping: {}
+          renderer_cfg:
+            renderer_type: isaac_rtx
         _is_tiled_camera: false
         _camera_offset:
           position_xyz: !!python/tuple
           - 0.11
           - -0.031
           - -0.074
-          rotation_wxyz: !!python/tuple
-          - -0.74896
+          rotation_xyzw: !!python/tuple
           - 0.0
           - 0.0
           - -0.66262
+          - -0.74896
       action_config:
         arm_action:
-          class_type: isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction
+          class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
           asset_name: robot
           debug_vis: false
           clip: null
           joint_names:
           - panda_joint.*
-          body_name: panda_hand
-          body_offset:
-            pos:
-            - 0.0
-            - 0.0
-            - 0.107
-            rot: !!python/tuple
-            - 1.0
-            - 0.0
-            - 0.0
-            - 0.0
           scale: 0.5
-          controller:
-            class_type: isaaclab.controllers.differential_ik:DifferentialIKController
-            command_type: pose
-            use_relative_mode: true
-            ik_method: dls
-            ik_params:
-              lambda_val: 0.01
+          offset: 0.0
+          preserve_order: false
+          use_default_offset: true
         gripper_action:
           class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction
           asset_name: robot
@@ -2601,15 +2579,6 @@ isaaclab_arena_env:
           enable_corruption: false
           history_length: null
           flatten_history_dim: true
-          actions:
-            func: isaaclab.envs.mdp.observations:last_action
-            params: {}
-            modifiers: null
-            noise: null
-            clip: null
-            scale: null
-            history_length: 0
-            flatten_history_dim: true
           joint_pos:
             func: isaaclab.envs.mdp.observations:joint_pos_rel
             params: {}
@@ -2628,45 +2597,18 @@ isaaclab_arena_env:
             scale: null
             history_length: 0
             flatten_history_dim: true
-          eef_pos:
-            func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos
-            params: {}
-            modifiers: null
-            noise: null
-            clip: null
-            scale: null
-            history_length: 0
-            flatten_history_dim: true
-          eef_quat:
-            func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat
-            params: {}
-            modifiers: null
-            noise: null
-            clip: null
-            scale: null
-            history_length: 0
-            flatten_history_dim: true
-          gripper_pos:
-            func: isaaclab_arena.embodiments.franka.observations:gripper_pos
-            params: {}
-            modifiers: null
-            noise: null
-            clip: null
-            scale: null
-            history_length: 0
-            flatten_history_dim: true
       event_config:
         init_franka_arm_pose:
           func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose
           params:
             default_pose:
             - 0.0
-            - -0.785
-            - -0.1107
-            - -1.1775
+            - -0.569
             - 0.0
-            - 0.785
-            - 0.785
+            - -2.81
+            - 0.0
+            - 3.037
+            - 0.741
             - 0.04
             - 0.04
           mode: reset
@@ -2725,16 +2667,6 @@ isaaclab_arena_env:
         enable_corruption: false
         history_length: null
         flatten_history_dim: true
-        target_object_position:
-          func: isaaclab.envs.mdp.observations:generated_commands
-          params:
-            command_name: object_pose
-          modifiers: null
-          noise: null
-          clip: null
-          scale: null
-          history_length: 0
-          flatten_history_dim: true
         object_position:
           func: isaaclab_arena.tasks.observations.observations:object_position_in_frame
           params:
@@ -2790,6 +2722,25 @@ isaaclab_arena_env:
           scale: null
           history_length: 0
           flatten_history_dim: true
+        target_object_position:
+          func: isaaclab.envs.mdp.observations:generated_commands
+          params:
+            command_name: object_pose
+          modifiers: null
+          noise: null
+          clip: null
+          scale: null
+          history_length: 0
+          flatten_history_dim: true
+        actions:
+          func: isaaclab.envs.mdp.observations:last_action
+          params: {}
+          modifiers: null
+          noise: null
+          clip: null
+          scale: null
+          history_length: 0
+          flatten_history_dim: true
     commands_cfg:
       object_pose:
         class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand
@@ -2827,6 +2778,7 @@ isaaclab_arena_env:
               visible: true
               semantic_tags: null
               copy_from_source: true
+              spawn_path: null
               mass_props: null
               deformable_props: null
               rigid_props: null
@@ -2842,13 +2794,14 @@ isaaclab_arena_env:
               joint_drive_props: null
               visual_material_path: material
               visual_material: null
-              usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+              usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
               variants: null
             connecting_line:
               func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
               visible: true
               semantic_tags: null
               copy_from_source: true
+              spawn_path: null
               mass_props: null
               rigid_props: null
               collision_props: null
@@ -2880,6 +2833,7 @@ isaaclab_arena_env:
               visible: true
               semantic_tags: null
               copy_from_source: true
+              spawn_path: null
               mass_props: null
               deformable_props: null
               rigid_props: null
@@ -2895,13 +2849,14 @@ isaaclab_arena_env:
               joint_drive_props: null
               visual_material_path: material
               visual_material: null
-              usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+              usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
               variants: null
             connecting_line:
               func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
               visible: true
               semantic_tags: null
               copy_from_source: true
+              spawn_path: null
               mass_props: null
               rigid_props: null
               collision_props: null