NaN data in the environment which hook not pass the center of the drone.

[jc-bao]

❓ Issue

1. Object state has NaN.

🤔 Possible solutions

1. ignore trajectory
2. limit the max rope force.

🔧 Trail

🧰 Method:

👀 Results: 😢/😃

*

[jc-bao]

🔧 Trail

🧰 Method: force clip + large force auto reset

• clip the rope force to limit its value
• if the l2-norm of the force larger than 500N, then auto reset.

👀 Results: 😢/😃

Now the issue is resolved, and they can be trained without any issues.