[polymetis] signal handler only allowed in main thread

facebookresearch / polymetis

Write PyTorch controllers, test them in simulation, and seamlessly transfer to real-time hardware.

MIT License

52 stars 2 forks source link

[polymetis] signal handler only allowed in main thread #5

Closed lshamis closed 2 years ago

lshamis commented 2 years ago

https://github.com/facebookresearch/polymetis/blob/1b2ea8528d4fb9ad72cec9c766be4cbdbdf76f18/polymetis/python/polymetis/robot_interface.py#L110

set_joint_positions calls send_torch_policy, which calls _get_robot_state_log, which creates a signal handler. This prevents set_joint_positions from being used from a thread.

lshamis commented 2 years ago

Moving issue to fairo.