[Question] Robot spawning on Isaac Lab Manager Based RL Env

[mateobode]

So, I am running a simulation to train a Nvidia Carter V1 robot on some autonomous navigation tasks using PPO. I created my project by downloading the Isaac Lab template and modifying it related to my needs. Currently I decided to go with Manager Based Env to achieve my goals and I'm using the PPO that Isaac Lab offers, without further modifciations. After I solved some problems with my code, I ran the train.py task and the simulation starts perfectly except an error with spawning the robot. It actually doesn't move, and it just continously spawns in different positions until an iteration stops and does the same thing for each iteration. Its been some days trying to fix my problem but nothing so fare. I would appreciate some help. This is my code for my environment configuration:

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# Copyright (c) 2024-2025, Mateo Bode
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

import math

import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg
from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
from omni.isaac.lab.managers import (
    CurriculumTermCfg as CurrTerm,
    EventTermCfg as EventTerm,
    ObservationGroupCfg as ObsGroup,
    ObservationTermCfg as ObsTerm,
    RewardTermCfg as RewTerm,
    SceneEntityCfg,
    TerminationTermCfg as DoneTerm,
)
from omni.isaac.lab.scene import InteractiveSceneCfg
from omni.isaac.lab.sensors import ContactSensorCfg, RayCasterCfg, patterns
from omni.isaac.lab.terrains import TerrainImporterCfg
from omni.isaac.lab.utils import configclass
from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
from omni.isaac.lab.utils.noise import AdditiveUniformNoiseCfg as Unoise

from . import mdp

# Carter V1 configuration
from carter_rl_nav.assets.carter_v1 import CARTER_V1_CFG

##
# Scene definition
##

@configclass
class MySceneCfg(InteractiveSceneCfg):
    """Configuration for the terrain scene with Carter V1 robot."""

    # Ground terrain (simplified for wheeled navigation)
    terrain = TerrainImporterCfg(
        prim_path="/World/ground",
        terrain_type="plane",
        collision_group=-1,
        physics_material=sim_utils.RigidBodyMaterialCfg(
            static_friction=0.8,  # Increased for better wheel traction
            dynamic_friction=0.6,
            restitution=0.0
        ),
        debug_vis=False,
    )

    # Robot
    robot: ArticulationCfg = CARTER_V1_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")

    # Sensors
    height_scanner = RayCasterCfg(
        prim_path="{ENV_REGEX_NS}/Robot/chassis_link",
        offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 0.5)),  # Lowered for wheeled robot
        pattern_cfg=patterns.GridPatternCfg(
            resolution=0.1,
            size=[2.0, 1.5]  # Wider scanning area
        ),
        debug_vis=False,
        mesh_prim_paths=["/World/ground"],
    )

    contact_forces = ContactSensorCfg(
        prim_path="{ENV_REGEX_NS}/Robot/.*",  # Monitor all robot bodies
        track_air_time=False  # Disabled for wheeled robot
    )

    # Lighting
    sky_light = AssetBaseCfg(
        prim_path="/World/skyLight",
        spawn=sim_utils.DomeLightCfg(
            intensity=750.0,
        ),
    )

##
# MDP settings (modified for wheeled locomotion)
##

@configclass
class CommandsCfg:
    """Command specifications for wheeled navigation."""
    
    base_velocity = mdp.UniformVelocityCommandCfg(
        asset_name="robot",
        resampling_time_range=(10.0, 10.0),
        rel_standing_envs=0.02,
        rel_heading_envs=1.0,
        heading_command=True,
        heading_control_stiffness=0.5,
        debug_vis=True,
        ranges=mdp.UniformVelocityCommandCfg.Ranges(
            lin_vel_x=(0.0, 1.5),  # Forward velocity
            lin_vel_y=(0.0, 0.0),  # No lateral movement
            ang_vel_z=(-1.0, 1.0),  # Turning rate
            heading=(-math.pi, math.pi)
        )
    )

@configclass
class ActionsCfg:
    """Action specifications for differential drive control."""
    
    wheel_velocity = mdp.JointVelocityActionCfg(
        asset_name="robot",
        joint_names=["left_wheel", "right_wheel"],
        scale=10.0,  # Match actuator limits
        use_default_offset=True
    )

@configclass
class ObservationsCfg:
    """Observation specifications for wheeled robot."""
    
    @configclass
    class PolicyCfg(ObsGroup):
        """Observations for policy group."""
        
        base_lin_vel = ObsTerm(func=mdp.base_lin_vel)
        base_ang_vel = ObsTerm(func=mdp.base_ang_vel)
        velocity_commands = ObsTerm(
            func=mdp.generated_commands,
            params={"command_name": "base_velocity"}
            )
        joint_vel = ObsTerm(func=mdp.joint_vel_rel)
        height_scan = ObsTerm(
            func=mdp.height_scan,
            params={"sensor_cfg": SceneEntityCfg("height_scanner")}
        )
        actions = ObsTerm(func=mdp.last_action)

        def __post_init__(self):
            self.enable_corruption = True
            self.concatenate_terms = True

    policy: PolicyCfg = PolicyCfg()

@configclass
class EventCfg:
    """Event specifications for domain randomization."""
    
    reset_robot = EventTerm(
        func=mdp.reset_root_state_uniform,
        mode="reset",
        params={
            "pose_range": {"x": (-2.0, 2.0), "y": (-2.0, 2.0), "yaw": (-math.pi, math.pi)},
            "velocity_range": {"x": (-0.5, 0.5), "yaw": (-1.0, 1.0)}
        }
    )

@configclass
class RewardsCfg:
    """Reward terms for wheeled navigation."""
    
    track_lin_vel = RewTerm(
        func=mdp.track_lin_vel_xy_exp,
        weight=2.0,
        params={"command_name": "base_velocity", "std": math.sqrt(0.25)}
    )
    
    track_ang_vel = RewTerm(
        func=mdp.track_ang_vel_z_exp,
        weight=1.5,
        params={"command_name": "base_velocity", "std": math.sqrt(0.25)}
    )
    
    collision_penalty = RewTerm(
        func=mdp.undesired_contacts,
        weight=-0.5,
        params={"sensor_cfg": SceneEntityCfg("contact_forces"), "threshold": 1.0}
    )

@configclass
class TerminationsCfg:
    """Termination conditions."""
    
    time_out = DoneTerm(func=mdp.time_out, time_out=True)
    collision = DoneTerm(
        func=mdp.illegal_contact,
        params={"sensor_cfg": SceneEntityCfg("contact_forces"), "threshold": 5.0}
    )

##
# Environment configuration
##

@configclass
class CarterV1NavigationEnvCfg(ManagerBasedRLEnvCfg):
    """Configuration for Carter V1 navigation environment."""
    
    # Scene settings
    scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=3.0)
    
    # Basic settings
    observations: ObservationsCfg = ObservationsCfg()
    actions: ActionsCfg = ActionsCfg()
    commands: CommandsCfg = CommandsCfg()
    
    # MDP settings
    rewards: RewardsCfg = RewardsCfg()
    terminations: TerminationsCfg = TerminationsCfg()
    events: EventCfg = EventCfg()

    def __post_init__(self):
        """Post-initialization configuration."""
        # General settings
        self.decimation = 4
        self.episode_length_s = 25.0
        
        # Physics settings
        self.sim.dt = 0.005
        self.sim.disable_contact_processing = True`
```
This is a video to better understand my issue:
[Screencast from 02-04-2025 05:36:28 PM.webm](https://github.com/user-attachments/assets/3240cc37-c6a6-4604-8788-6d695b294a71)

[RandomOakForest]

Thank you for starting this discussion. It seems there may be termination conditions in your configuration that are causing this. Also, is your robot configuration something you can share?

[mateobode]

Thank you for responding. This is the configuration of the robot:

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# Copyright (c) 2024-2025, Mateo Bode
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Configuration for the Carter V1 robot."""

import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.actuators import DCMotorCfg
from omni.isaac.lab.assets import ArticulationCfg
from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR

##
# Configuration - Actuators
##

CARTER_V1_ACTUATOR_CFG = DCMotorCfg(
    joint_names_expr=["left_wheel", "right_wheel"],
    effort_limit=15,
    velocity_limit=10.0,
    saturation_effort=15.0,
    stiffness=0.0,
    damping=0.0,  # Set to zero for pure effort control
)

##
# Configuration - Articulation
##

CARTER_V1_CFG = ArticulationCfg(
    spawn=sim_utils.UsdFileCfg(
        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Carter/carter_v1.usd",
        activate_contact_sensors=True,
        rigid_props=sim_utils.RigidBodyPropertiesCfg(
            disable_gravity=False,
            retain_accelerations=False,
            linear_damping=0.1,
            angular_damping=0.1,
            max_linear_velocity=2.0,
            max_angular_velocity=2.0,
        ),
        copy_from_source=False,
        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
            enabled_self_collisions=False,
            solver_position_iteration_count=8,
            solver_velocity_iteration_count=4,
        ),
    ),
    init_state=ArticulationCfg.InitialStateCfg(
        pos=(0.0, 0.0, 0.05),
        rot=(1, 0, 0, 0),
        joint_pos={
            "left_wheel": 0.0,
            "right_wheel": 0.0,
            "rear_pivot": 0.0,
            "rear_axle": 0.0
        },
    ),
    actuators={"wheels": CARTER_V1_ACTUATOR_CFG},
)

"""Configuration for the Carter V1 robot."""

I tried to remove the collision detect from it and then saw that the robot is not receiving commands. I have done the same configuration on an experiment with Carter V1 just to test if can navigate and it worked fine, I don't quite understand why I am occuring this problems.