Real-Time Physics Simulation Forum 2020-09-17T11:18:51+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13069 2020-09-17T11:18:51+00:00 2020-09-17T11:18:51+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43102#p43102 <![CDATA[Limiting DeepMimic to upper body]]>
I am working on a RL task similar to DeepMimic, but limited to the upper part of the body.
I changed the URDF obtaining something like this:
https://imgur.com/cIgGFiM

I also adapted the code so that it consider fewer joints and there is no gravity, as I don't want my character falling to the ground and resetting the simulation.
However, when I train my character I obtain weird results, like the torso floating around. I tried to set the useFixedBase flag in humanoid_stable_pd.py and it solves the floating issue, but then the torso starts randomly rotate around the base.

Do you have any suggestions about what I might need to change? Should I change the base to something like a cylinder and place it on the ground?

Many thanks in advance

Statistics: Posted by ftavella — Thu Sep 17, 2020 11:18 am

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