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leggedrobotics / raisimLib

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH
http://www.raisim.com
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getPosition function sometimes returns NaN values #13

Closed rohitkumara closed 5 years ago

rohitkumara commented 5 years ago

I am using this library in combination with raisimGym and I developed my own Environment, but when I run more than 50 environments simultaneously (num_envs = 50), and query the object position using object->getPosition(pos);, I sometimes get NaN values in the pos variable.

Could you tell me why this is happening?

jhwangbo commented 5 years ago

Can you check if the generalized coordinate is also nan? If so, then three possibilities, 1. Your learning is unstable, 2. Your simulation is unstable (too big time step, unrealistic internal collisions) 3. Memory corruption issues