No movement has been assigned to the head of the robot but it is still moving in simulation after training

Omniverse Isaac Sim
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Hi, so we are building an upper humanoid and simulating/training it using RL but even though there haven’t been any movements assigned to the head in the code, it is still moving. We reduced overall joint velocities of the arms and that somehow made the head shake a bit less but it is still so confusing? can someone help?

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Thanks for posting this. Did you use Isaac Lab for training? If so, this would be an excellent topic for the discussions held in the Isaac Lab’s github repository. Feel free to start one as you see fit. Thanks.

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Thank you!