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To make an interactive environment upon the given ones #20
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the equivalent in the tensor api is |
@nikitardn Thanks for the help.. I was able to do this like last week ago. I have one more question: can we make a dynamic terrain in Issac Gym? Like shifting platforms or something like that? |
You should be able to add shifting platforms as boxes, but our current height scanner won't work with that since we get the heights from the static terrain. |
I am planning to make an interactive environment just like
issacgym/python/examples/projectiles.py
where with the click of a mouse button we can throw projectiles toward robots (in my case unitree a1 robot). I tried including the steps onto the_create_envs
method inlegged_robot.py
but I could only include this much of code into it:Now when I include the next part that is:
I get an
AtrributeError
asself.viewer
is not a part ofLeggedRobot
class.But I tried to put the second part into
step()
method and I get an Isaac Gym error:[Error] [carb.gym.plugin] Function GymGetActorRigidBodyStates cannot be used with the GPU pipeline after simulation starts. Please use the tensor API if possible. See docs/programming/tensors.html for more info.
I got to know from the Isaac gym docs that
gym.get_actor_rigid_body_states
can be used for CPU rendering but not for GPU.IS THERE A WAY I CAN DO THE WHOLE INTERACTIVE SIMULATION VIA GPU?
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