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fix: skip terms with weight 0 #655

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fix: skip terms with weight 0 #655

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3 changes: 3 additions & 0 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -213,6 +213,9 @@ def _prepare_terms(self):
f"Weight for the term '{term_name}' is not of type float or int."
f" Received: '{type(term_cfg.weight)}'."
)
# skip terms with weight 0
if term_cfg.weight == 0.0:
continue
Comment on lines +216 to +218
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We removed this on purpose since many times we want to have a curriculum over rewards which may start at zero but go up during training. If you want to remove a reward term, please remove it from the config itself (or set it to None).

# resolve common parameters
self._resolve_common_term_cfg(term_name, term_cfg, min_argc=1)
# add function to list
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