robot can't stand

[inesying]

I want to express my sincere gratitude for this open-sourcing project. I have been able to successfully run your pre-trained model, and the results are exceptional. However, when I attempt to train the model using your code without modifying any parameters, the outcome is quite strange. The robot seems unable to stand, and I am uncertain of the cause.

Has anyone encountered a similar issue?

[aCodeDog]

I think you can add a reward : default_joint_pos - joint_pos，that will work well