I am controlling a minitaur environment from jupyter notebook, and want to experiment with different gaits. For this, I have set up several slider widgets, one for each leg motor. Every time I move a slider, a new action array is sent to env.step(action_array), which causes the simulation to move one step.
Now I would like to make it realtime, but as soon as i enable pb.setRealtimeSimulation(1) the robot falls over. I am guessing it needs to receive an action array continuously, not just when my slider values change.
My attempt to do this was:
a) create an infinite loop that reads the latest action_array and calls env.step(action_array) - I assume this would stabilise the robot and keep it fixed in position
b) have a seperate thread for the sliders, which updates the action_array
I used python multiprocessing to create the infinite loop, passing variable env to a worker, which calls env.step, reading action_array from a Queue, but the simulation does not step. Elsewhere I put an action_array on the queue. I would expect the worker thread to read action_array from the queue, and run env.step. If there is nothing on the queue, it will just sent latest_action_array.
Could someone help, maybe I am making it too complicated.
Many thanks,
KaiStatistics: Posted by kfa22 — Sun Apr 26, 2020 9:10 am
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