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sync: update isaac_sim from OM1-ros2-sdk (37581a8ed15d2beb1f58750ea29c1a851e7ae0ec) #53

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Merged
openminddev merged 1 commit into from
Sep 10, 2026
Merged

sync: update isaac_sim from OM1-ros2-sdk (37581a8ed15d2beb1f58750ea29c1a851e7ae0ec) #53

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5 changes: 5 additions & 0 deletions isaac_sim/policies/m20.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,8 @@
)
WHEEL_ACTION_SCALE = 5.0 # env.yaml joint_vel action scale

ZERO_CMD_EPS = 1e-3


class M20VelocityPolicy(PolicyController):
"""DeepRobotics M20 wheeled quadruped running a velocity-tracking policy."""
Expand Down Expand Up @@ -205,6 +207,9 @@ def forward(self, dt: float, command: np.ndarray) -> None:
vel_cmd = np.zeros(len(pos_cmd), dtype=np.float32)
vel_cmd[self._wheel_ids] = self._wheel_vel_target

if float(np.abs(command).max()) < ZERO_CMD_EPS:
vel_cmd[self._wheel_ids] = 0.0

self.robot.apply_action(
ArticulationAction(joint_positions=pos_cmd, joint_velocities=vel_cmd)
)
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