Upload 4 files

model_1000.pt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0411c87d0050e1a6d56fcf23fc38f65652c650cee4bd7b55a216d8d84e540524
-size 1242805
+oid sha256:781da7b3bb3c781a93a4285f92a353caf6e3054c2fb216f4f3fe2b31b14c6ca9
+size 1298101

model_1999.pt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2a42dca235f666f62b7a98b6f9e58de7a3a820f1f463aa5125f81b9b846fdef9
-size 1242805
+oid sha256:babbbfd363f894443ffe494f26c5b6e0485fb35d4f5480c088295c23fc2a13aa
+size 1298101

params/agent.yaml

@@ -12,7 +12,7 @@ obs_groups:
   - task_obs
 clip_actions: null
 check_for_nan: true
-save_interval: 100
+save_interval: 200
 experiment_name: generic_experiment
 run_name: ''
 logger: tensorboard

params/env.yaml

@@ -17,7 +17,7 @@ viewer:
   body_name: null
 sim:
   device: cuda:0
-  dt: 0.01
+  dt: 0.005
   gravity: !!python/tuple
   - 0.0
   - 0.0
@@ -84,7 +84,7 @@ sim:
   visualizer_cfgs: []
 ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
 seed: 42
-decimation: 2
+decimation: 4
 scene:
   num_envs: 4096
   env_spacing: 30.0
@@ -480,7 +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_20260401_130737_rank0
+  dataset_filename: dataset_20260403_034228_rank0
   dataset_export_mode:
     _value_: 1
     _name_: EXPORT_ALL
@@ -490,12 +490,6 @@ 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
@@ -503,6 +497,15 @@ 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: {}
@@ -521,12 +524,49 @@ 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:
@@ -582,25 +622,6 @@ 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.joint_actions:JointPositionAction
@@ -630,12 +651,12 @@ events:
     params:
       default_pose:
       - 0.0
-      - -0.569
-      - 0.0
-      - -2.81
+      - -0.785
+      - -0.1107
+      - -1.1775
       - 0.0
-      - 3.037
-      - 0.741
+      - 0.785
+      - 0.785
       - 0.04
       - 0.04
     mode: reset
@@ -719,11 +740,10 @@ rerender_on_reset: false
 num_rerenders_on_reset: 0
 wait_for_textures: false
 xr: null
-teleop_devices:
-  devices: {}
+teleop_devices: null
 isaac_teleop: null
 export_io_descriptors: false
-log_dir: /workspaces/isaaclab_arena/logs/rsl_rl/generic_experiment/2026-04-01_13-07-40
+log_dir: /workspaces/isaaclab_arena/logs/rsl_rl/generic_experiment/2026-04-03_03-42-29
 is_finite_horizon: false
 episode_length_s: 5.0
 rewards:
@@ -1171,9 +1191,6 @@ commands:
           axis: Z
 metrics:
 - {}
-- _robot_name: robot
-  _object_name: dex_cube
-  _command_name: object_pose
 isaaclab_arena_env:
   name: lift_object
   scene:
@@ -1865,6 +1882,15 @@ 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: {}
@@ -1883,18 +1909,45 @@ 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
-          - -0.569
+          - -0.785
+          - -0.1107
+          - -1.1775
           - 0.0
-          - -2.81
-          - 0.0
-          - 3.037
-          - 0.741
+          - 0.785
+          - 0.785
           - 0.04
           - 0.04
         mode: reset
@@ -2579,6 +2632,15 @@ 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: {}
@@ -2597,18 +2659,45 @@ 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
-            - -0.569
-            - 0.0
-            - -2.81
+            - -0.785
+            - -0.1107
+            - -1.1775
             - 0.0
-            - 3.037
-            - 0.741
+            - 0.785
+            - 0.785
             - 0.04
             - 0.04
           mode: reset
@@ -2667,6 +2756,16 @@ 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:
@@ -2722,25 +2821,6 @@ 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