Intent: I want to make the viewer follow a mobile actor to debug its behaviour from its perspective.
Problem: The line gym.get_viewer_camera_handle(viewer) results in a crash with the message: Segmentation fault (core dumped).
Questions:
Is this a bug or am I doing something wrong somewhere?
If the call had succeeded, I would have tried to move the viewer with gym.set_camera_transform(camera, env, transform), but it seems that gym.get_actor_joint_transforms(env, actor) is the only call outputting transforms with reference to an actor. Is there a more straightforward way to get the base transform (pose) of an actor?
Is there a simpler or better way of doing all of this that I have missed?
There seems to be a bug with get_viewer_camera_handle(). However, if you have created a valid viewer with gym.create_viewer(self.sim, gymapi.CameraProperties()), you can set the viewer camera directly with gym.viewer_camera_look_at(viewer, None, cam_pos, cam_target).
For the actor transforms, you can get the root transform with the tensorAPI acquire_actor_root_state_tensor() and refresh_actor_root_state_tensor().