I have a 7DOF franka robot in an environment with multiple objects (including a collision-free target, a mug and a table).
After what seems like a random number of steps, the mug’s position, velocities, orientation and any other data associated with it is set to nan. The only way to get rid of this is to call my
reset function which works similarly to the example in
I’ve tried to replicate this by replaying the same actions taken during the failure episode, however, it doesn’t seem to trigger it. In one such episode, the robot didn’t even touch the mug and the error still appears.
I’ve also tried to simulate each possible spawning position. Unfortunately, this didn’t trigger it either.
Any ideas what could cause this? Thanks in advance!