leggedrobotics
Self Collisions
Hi, When we test our trained policy for uneven terrain we find the legs are crossing each other when we command the robot to turn around. Then we realize that the self-collision is turned off in config files for uneven terrain. Both in env/anymal_c/mixed_terrains and in env/a1. But interestingly, in flat ground the self-collision is enabled. Does self-collision does something wrong when training in uneven terrain? How to avoid legs crossing each other when commanding turning around for robots?
Also as training time grows, the two legs in front and two legs in back tend to become closer to each other even in normal walking
I faced the same issue when training our own robot model. Have you found any way to avoid this issue?
