def reset(self):
if (self.stateId >= 0):
# print("restoreState self.stateId:",self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
self._p, self.stadium_scene.ground_plane_mjcf)
# self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in
# self.foot_ground_object_names])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
if (self.stateId < 0):
self.stateId = self._p.saveState()
#print("saving state self.stateId:",self.stateId)
self._p.setGravity(0, 0, -.5)
for _ in range(200):
self.robot.reset_position()
self.scene.global_step()
self.robot.reset_position_final()
self._p.setGravity(0, 0, -9.81)
r = self.robot.calc_state()
self.robot._initial_z = r[-1]
# for _ in range(20):
# self.scene.global_step()
# self.robot.reset_position_final()
# time.sleep(0.1)
# self.robot.reset_position()
# self.scene.global_step()
self.robot.initial_z = None
r = self.robot.calc_state()
return r
def reset(self):
if (self.stateId >= 0):
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId < 0):
self.stateId = self._p.saveState()
return r
def reset(self):
if (self.stateId >= 0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId < 0):
self.stateId = self._p.saveState()
#print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
def reset(self):
if (self.stateId >= 0):
# print("restoreState self.stateId:",self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
self._p, self.stadium_scene.ground_plane_mjcf)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex],
self.parts[f].bodyPartIndex) for f in self.foot_ground_object_names])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
if (self.stateId < 0):
self.stateId = self._p.saveState()
# print("saving state self.stateId:",self.stateId)
return r, {'v(m/s)':self.robot_body.speed(), 'pose(m)': self.robot.robot_body.pose().xyz(), 'rpy': self.robot.body_rpy, \
'ori': self.robot.robot_body.pose().orientation(), 'feet_contact': self.robot.feet_contact}
def reset(self):
if (self.stateId >= 0):
#print("restoreState self.stateId:",self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
self._p, self.stadium_scene.ground_plane_mjcf)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex],
self.parts[f].bodyPartIndex)
for f in self.foot_ground_object_names])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
if (self.stateId < 0):
self.stateId = self._p.saveState()
#print("saving state self.stateId:",self.stateId)
return r
def reset(self):
if self.stateId >= 0:
# print("restoreState self.stateId:",self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
(
self.parts,
self.jdict,
self.ordered_joints,
self.robot_body,
) = self.robot.addToScene(self._p, self.stadium_scene.terrain)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
if self.stateId < 0:
self.stateId = self._p.saveState()
# print("saving state self.stateId:",self.stateId)
return r