Hi,
I’m currently working on a reinforcement learning project aimed at developing a locomotion policy for a quadruped robot equipped with a vacuum system on its feet.
To achieve this, I’ve implemented the vacuum system in Isaac Lab/Sim as a force applied within the frame of the robot’s feet. I’ve used the apply_forces_and_torques_at_position method for this purpose. However, I’ve encountered an issue where the robot learns to exhibit a chattering behavior during locomotion. Specifically, the quadruped uses the collision dynamics to move without actually walking, resembling high-frequency, low-magnitude jumps.
I suspect this problem arises from the interaction between the force generation and the collision dynamics (spring-mass-damper behavior during collisions).
Could you provide any advice or suggestions on how to address this issue?
Thank you!