Hello.
I have a problem that robot agents going under the t terrain which I made with trimesh configuration.
the stair spec:
horizontal_scale = 0.01 # [m]
vertical_scale = 0.01 # [m]
step_width = 0.30 # [m]
step_height = -0.17 # [m]
I utilized the code from legged_gym(GitHub - leggedrobotics/legged_gym: Isaac Gym Environments for Legged Robots) and using this configuration
tm_params = gymapi.TriangleMeshParams()
tm_params.nb_vertices = self.terrain.vertices.shape[0]
tm_params.nb_triangles = self.terrain.triangles.shape[0]
tm_params.transform.p.x = -2
tm_params.transform.p.y = -2
tm_params.transform.p.z = 2.5
tm_params.static_friction = 1.0
tm_params.dynamic_friction = 1.0
tm_params.restitution = 0.
self.gym.add_triangle_mesh(self.sim, self.terrain.vertices.flatten(order='C'),
self.terrain.triangles.flatten(order='C'), tm_params)
self.height_samples = torch.tensor(self.terrain.heightsamples).view(self.terrain.tot_rows,
self.terrain.tot_cols).to(self.device)
I already wrapped up all parts of the robots with a collision mesh.
How can I prevent the vanishing problem?