bryanvis

Edit: see below

Ah, in the target task this line `self._walker.create_root_joints(self._arena.attach(self._walker))` is adding a joint. It's still not obvious to me why the simulation is breaking immediately

Revisited w/ the composer tutorial. I compressed it down to a single file: ```python from dm_control import composer from dm_control.composer.observation import observable import numpy as np from dm_control.locomotion.arenas import floors...

To try to debug further I got the arena xml at runtime: ```xml ``` Some things I tried: changing the integrator to RK4; reducing the timestep; changing solver params. Would...

@yuvaltassa Sorry, that XML is the compiled one at runtime, maybe the code in the comment before that makes more sense. The goal is to have a cube that is...

By "rotate on the xy plane", I just meant that the cube should be able to spin as you might spin a top — don't need to move up. Does...

XML: ```xml ``` Code: ```python from dm_control import composer from dm_control.composer.observation import observable import numpy as np from dm_control.locomotion.soccer.pitch import Pitch from dm_control import mjcf import os _XML_DIRNAME = os.path.join(os.path.dirname(__file__),...

@yuvaltassa I tried adding such a hinge as so: ```xml ``` That does what I want it to by itself. But adding the floor & compiling (see code at the...

Ok, I think this was simply due to friction and setting "condim" to 1 for both the floor & the cube gets me the behavior I was looking for! I'll...