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:
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
Official Python bindings with a focus on reinforcement learning and robotics.
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