I’m using a self-created robot arm model to run some reinforcement learning algorithms and I find my gripper is unstable which has closed-loop constraints. After model .reset(), it can go wrong like the figures I show below and sometimes, after some iteration, it manages to self-correct.
So I wonder if there is any suggested way to fix this problem while maintaining the structure like the physics robot?
PS: I’m using the OmniIsaacGymEnvs repo to clone the robots and do all the trainings.
The USD model screenshots with open gripper status and closed one: