Error when use step function in class RaisimGymVecEnv about raisimgym

[jhwangbo]

It is saying that you called the function with a wrong set of arguments. Is the first array float32? I am not very experienced in python so I can't tell but make sure that they all have the correct data type. The rest seems ok to me too.

[ZQX323]

yes, when I implement self.env.step(action, visualize=True).

If action is array([-0.17920911, -0.02736158, 0.37157712, 0.03743708, -0.7466227 ,
-0.01556192, -0.03418474, 0.19078933, -0.27589707, 0.1042255 ,
-0.49273024, -0.05912861])

it will cause error.

but when action is array([ 0.09762701, 0.43037874, 0.20552675, 0.08976637, -0.1526904 ,
0.29178822, -0.12482557, 0.78354603, 0.92732555, -0.23311697,
0.5834501 , 0.05778984], dtype=float32)

with dtype=float32, there is no error. But I think both of them should be OK. I am not familiar with pybind, would you mind to tell me which c++ file will be implemented after step/testStep function of class RaisimGymEnv in _raisim_gym.py is called? I want to check it's compatibility with different input.

[ZQX323]

seems step function only support float32 not float64

[jhwangbo]

yes, that's right. but this should be a good feature. The type conversion is costly and this helps you remove it ;)