Miscellaneous changes & fixes

[Juyue]

Miscellaneous changes/fixes

1. Fix evaluate_policy in fast_sac_agent. Now self.env.is_evaluating will be properly set when running eval_agent.py

2. Fix LocomotionCommand.reset. Now, user can use cmd line to set the ranges of velocity they want to eval. For example:

   --command.setup_terms.locomotion_command.params.command_ranges.lin_vel_x="[0.5, 0.5]" --command.setup_terms.locomotion_command.params.command_ranges.lin_vel_y="[0.0, 0.0]" --command.setup_terms.locomotion_command.params.command_ranges.ang_vel_yaw="[0.0, 0.0]"
   

3. Make default_robot configurable in retargeting for other robots. This has no functional changes to existing g1/t1.

   Tested with

   python examples/robot_retarget.py --data_path demo_data/OMOMO_new --task-type robot_only --task-name sub3_largebox_003 --data_format smplh --retargeter.debug --retargeter.visualize
   
   python data_conversion/convert_data_format_mj.py --input_file ./demo_results/g1/robot_only/omomo/sub3_largebox_003.npz --output_fps 50 --output_name converted_res/robot_only/sub3_largebox_003_mj_fps50.npz --data_format smplh --object_name "ground" --once
   

4. Adjust isaacsim viewer viewing angles when tracking is enabled.

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[carlosferrazza]

lgtm!

[maedmatt]

#53 was solving one of those issues : (

[lijiaman]

Looks good!

[Juyue]

#53 was solving one of those issues : (

Thanks! Have approved and merged #53 !