Laura#2598
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LJones-alt wants to merge 6 commits intoisaac-sim:mainfrom
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Apr 29, 2026
Diagnostic probe to discriminate two hypotheses for the Newton ~10x reward gap on Shadow-Hand-Over MAPPO at the develop pin: - If reward jumps sharply (e.g. mean from 27 -> 100+), the actuator wiring works and the baseline gains were just too low; sweep for sweet spot. - If reward stays ~27, the wiring is broken (e.g. Newton issue isaac-sim#2585 imports MjcActuators as CTRL_DIRECT, fixed in PR isaac-sim#2598 which is 51 commits past our pin a27277ed). Switch to IdealPDActuatorCfg or bump Newton. Will revert/replace this commit once the diagnostic is interpreted.
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there