After retargeting motion data to my custom robot, I'm experiencing significant foot slipping issues during motion playback. The retargeted joint angles and overall posture look correct, but the feet fail to maintain stable ground contact during the stance phase, causing the robot to slide across the floor like ice skating. This slipping behavior appears in both the visualization and affects the quality of the trained policy when using AMP. The root position seems to drift relative to the foot positions, and the issue becomes more pronounced during faster motions. I've verified the joint ordering and AMP observation format are correct.
After retargeting motion data to my custom robot, I'm experiencing significant foot slipping issues during motion playback. The retargeted joint angles and overall posture look correct, but the feet fail to maintain stable ground contact during the stance phase, causing the robot to slide across the floor like ice skating. This slipping behavior appears in both the visualization and affects the quality of the trained policy when using AMP. The root position seems to drift relative to the foot positions, and the issue becomes more pronounced during faster motions. I've verified the joint ordering and AMP observation format are correct.