Bugs

Table of Contents

• September 14th, 2025

“Those who cannot remember the past are condemned to repeat it.”

September 14th, 2025

Nan, Inf or huge value in QACC at DOF 4. The simulation is unstable. Time = 0.0850.

Also, environment was resetting to arbitrary initial position each time.

Cause. I triggered a mujoco.mj_forward(model, data) call that manually set qpos to some weird values. When qpos is set to invalid values, the simulation might diverge.