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leggedrobotics / legged_gym

Isaac Gym Environments for Legged Robots
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My URDF Robots getting fly away, do you have any tips #13

Closed miercat0424 closed 2 years ago

miercat0424 commented 2 years ago

I'm trying to train my custom Quadruped Robot using this library So I followed that you suggest on Readme.md and it works so far.

But after I do (I set get_args --task , default : my_custom)

python train.py

Simulation shows flying flying away.

here is my collision imgaes Screenshot from 2022-02-05 22-14-53

And this is my URDF file https://github.com/miercat0424/Custom_URDF-/blob/main/Quadruped_1.urdf

As I think I need some inertial setting skill but I don't have any idea. Do you have any idea or tips about making URDF?

miercat0424 commented 2 years ago

I edited all URDF's inertial origin data <origin xyz="0 0 0"/> like this then it resolved. But reward doesn't increase, they jumps up about 2~4 secs and rolling itself.