Hi,
I’m trying to spawn an object (cube actor) between a quadruped’s front feet using the legged_gym repository. The robot’s base is fixed, and I’ve included it in terminate_after_contacts_on = ["base"] to avoid initialization issues.
However, the object keeps bouncing and showing unexpected reaction forces, and I’m not sure how to fix it. I’ve attached a video for reference.
When changing the parameters, different collision problems arise, and in few instances contact forces on base were very high.
Has anyone faced similar issues or have suggestions on debugging this? What could it be related to?
Thanks!