i’m trying to design and train a model from scratch of a balancing bipedal robot
i made a simplified urdf model, and i tried simplifying ant.py from IsaacGymEnvs as much as possible as a template
i renamed my version from
antsimple and uploaded all the relevant files here GitHub - stuartcrobinson/isaac_gym_question: files to get help on why my simulation is so messed up
i would include some code here but i have no idea what’s responsible. why it’s not starting out motionless like the ant model does when i switch out my
urdf for the original
very confused and any help or pointers would be greatly appreciated!
why does gravity seem to change axis half way through??
why does it start out spinning even tho i set velocities to 0?
self.initial_root_states[:, 7:13] = 0
python train.py task=Antsimple test=True num_envs=1