This is not a bug report or anything but more of a misunderstanding of the library functions probably…
So, I was doing the Hello Robot Tutorial and I wanted to try the extra practices under point 4.4. However, when I use the following code in the ‘send_robot_actions’ function to make the robot stop, it won’t stop:
def send_robot_actions(self, step_size): # Every articulation controller has apply_action method # which takes in ArticulationAction with joint_positions, joint_efforts and joint_velocities # as optional args. It accepts numpy arrays of floats OR lists of floats and None # None means that nothing is applied to this dof index in this step # ALTERNATIVELY, same method is called from self._jetbot.apply_action(...) if(self._time >= 5): return self._jetbot_articulation_controller.apply_action(ArticulationAction(joint_positions=None, joint_efforts=None, joint_velocities=5 * np.array([-1, -1]))) self._time += step_size print(self._time) return
self._time is defined in ‘setup_post_load’, and the print(self._time) stops printing the time at the correct time but the robot just keeps going… Am I misunderstanding how the apply_action function or the joint_velocities input work?