Robot walking backwards in headless mode about rex-gym HOT 8 CLOSED

Hi,

thanks for your advice, this did make the video more nature!
After some struglling I raised the fps to ~20 by adding this block

https://github.com/Dzhange/rex-gym/blob/3ffb674ade13ceac3352c3329f1804eb21a08403/rex_gym/envs/rex_gym_env.py#L234-L242

not sure if this would support batchified training but I think that has little to do with this issue, I'll close itHi,

thanks for your advice, this did make the video more nature!
After some struglling I raised the fps to ~20 by adding this block

            self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.DIRECT)
            import pkgutil
            egl = pkgutil.get_loader('eglRenderer')
            if egl:
                pluginId = pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
            else:
                pluginId = pybullet.loadPlugin("eglRendererPlugin")
            print("pluginId=",pluginId)

not sure if this fps would support batchified training, but I think that has little to do with this issue, I'll close it

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this looks like a timing issue, and I see you had my same impression (as you tried to edit the simulation timestep timing. However that block won't be executed if render = False, did you tried removing that if statement as well?

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Yeah I tried to remove that if statement, actually the videos are recorded with this block executed.

I'm wondering if this problem is related to the parameters updated here?

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I may be wrong but, nope, don't think so.. in both cases, the values we set are actually the same

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Do you have the same behavior running the policy_player in render mode? just wondering if the pybullet update made some changes

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HIii, just checked several things:

1. I found that walking backwards or forwards is randomly chosen, so I think the main problem is the gait/frequency etc
2. sometimes the step_length parameter varies a bit(i.e. from -0.1 to -0.3), not sure if this is normal?
3. I tried the newest pybullet with a monitor, and the robot walked well. I also tested the session with 3 settings:

1. render and record video at same time --> moving slowly

2. render only --> normal

3)record video only --> rapid frequency, yet slow

I guess the problem is mainly about timing, let me take a deeper look at that.
Here is my implementation of recording if you are interested:
https://github.com/Dzhange/rex-gym/blob/779470994e74259f5b29db62beb4f4aa05f8ddeb/rex_gym/playground/policy_player.py#L45-L84

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I think I found the problem:

In render mode, fps is around 50
but when using capture_frame to visualize, the fps drops to ~3

I'm wondering if there is any method to fix the time for each step in the pybullet world?
or do you have any suggestions?
Thanks!

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Each env has its own metadata:

Have you tried editing video.frames_per_second?

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