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isaac-sim / OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym
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Humanoid robots floating in space #140

Open Savevska opened 7 months ago

Savevska commented 7 months ago

Hi, I'm currently working on training a humanoid robot using the OmniIsaacGymEnv examples. I've set up the environment based on the existing examples, but I'm encountering an issue during simulation where the robot starts floating in space, despite having gravity enabled (see image attached). talos_floating

I tried the solution provided here, but unfortunately, it didn't resolve the problem. Additionally, I tried running the example on CPU and with a different solver, but without success.

For reference, the same asset works fine when loaded and controlled in isaac sim.

Could someone please assist or suggest further steps for exploration?

budzianowski commented 6 months ago

I can report the same issue, any news on this @Savevska ?

Savevska commented 6 months ago

Unfortunately, I didn't get a solution. However, I received feedback on Discord suggesting that the issue might be related to the way the collision and actuator groups are structured. However I haven't explored this further as I've moved to another problem, but it might be a useful hint for you to investigate.

I can report the same issue, any news on this @Savevska ?