I am trying to use cameras in RL scenarios, and have therefore experimented with adding cameras in the Cartpole example. It works normally, but not when set to headless mode. I get the following error:
[Error] [carb.gym.plugin] SetCameraLocation: Error: could not find camera with handle -1 in environment 0
Here is the relevant code snippet:
camera_props = gymapi.CameraProperties() camera_props.width = 720 camera_props.height = 480 camera_props.enable_tensors = True camera_handle = self.gym.create_camera_sensor(env_ptr, camera_props) #returns -1 self.envs.append(env_ptr) self.cartpole_handles.append(cartpole_handle) self.cams.append(camera_handle) self.gym.set_camera_location(camera_handle, env_ptr, gymapi.Vec3(3, 0, 2), gymapi.Vec3(0, 0, 2))
I can run the
interop_torch.py example in headless mode no problem. I have also tried to limit the number of available GPUs with
set CUDA_VISIBLE_DEVICES, with no change.
Any help is much appreciated!