Allen Z. Ren

IsaacGym version

3

I think the code does not support the currently available IsaacGym package, and the preview_2 version is not available any more. This breaks the PPO training. Is there plan to...

Improve documentation for setting center of mass of a body

4

In the Body/Rigidbody class, users can call `SetCenterOfMassInBodyFrame` to move the center of mass of a body in the body frame. However, this does not shift the spatial inertia of...