def reset(self):
if self._hard_reset:
self._pybullet_client.resetSimulation()
self._pybullet_client.setPhysicsEngineParameter(
numSolverIterations=int(self._num_bullet_solver_iterations))
self._pybullet_client.setTimeStep(self._time_step)
plane = self._pybullet_client.loadURDF("%s/plane.urdf" %
self._urdf_root)
self._pybullet_client.changeVisualShape(plane,
-1,
rgbaColor=[1, 1, 1, 0.9])
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION, 0)
self._pybullet_client.setGravity(0, 0, -10)
acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection
self.minitaur = (minitaur.Minitaur(
pybullet_client=self._pybullet_client,
urdf_root=self._urdf_root,
time_step=self._time_step,
self_collision_enabled=self._self_collision_enabled,
motor_velocity_limit=self._motor_velocity_limit,
pd_control_enabled=self._pd_control_enabled,
accurate_motor_model_enabled=acc_motor,
motor_kp=self._motor_kp,
motor_kd=self._motor_kd,
torque_control_enabled=self._torque_control_enabled,
motor_overheat_protection=motor_protect,
on_rack=self._on_rack,
kd_for_pd_controllers=self._kd_for_pd_controllers))
else:
self.minitaur.Reset(reload_urdf=False)
if self._env_randomizer is not None:
self._env_randomizer.randomize_env(self)
self._env_step_counter = 0
self._last_base_position = [0, 0, 0]
self._objectives = []
self._pybullet_client.resetDebugVisualizerCamera(
self._cam_dist, self._cam_yaw, self._cam_pitch, [0, 0, 0])
if not self._torque_control_enabled:
for _ in range(100):
if self._pd_control_enabled or self._accurate_motor_model_enabled:
self.minitaur.ApplyAction([math.pi / 2] * 8)
self._pybullet_client.stepSimulation()
if self._velocity_weight > 0:
self.target_velocity = np.random.uniform(
0, self.target_velocity_range)
# if self._distance_weight > 0:
# self.target_position = np.random.uniform(-self.target_position_range, self.target_position_range)
return self._noisy_observation()
def _reset(self):
if self._hard_reset:
self._pybullet_client.resetSimulation()
self._pybullet_client.setPhysicsEngineParameter(
numSolverIterations=int(self._num_bullet_solver_iterations))
self._pybullet_client.setTimeStep(self._time_step)
self._groundId = self._pybullet_client.loadURDF("%s/plane.urdf" %
self._urdf_root)
#self._ballId = self._pybullet_client.loadURDF("%s/sphere_small.urdf" % self._urdf_root,ballStartPos,ballStartOrn)
rel_path = os.path.split(os.path.realpath(__file__))[0]
#self._ballId = self._pybullet_client.loadURDF("%s/urdf/sphere_small.urdf" % rel_path,ballStartPos,ballStartOrn)
self._ballId = self._pybullet_client.loadURDF(
"%s/urdf/custom_sphere.urdf" % rel_path, ballStartPos,
ballStartOrn)
self._pybullet_client.setGravity(0, 0, -10)
acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection
self.minitaur = (minitaur.Minitaur(
pybullet_client=self._pybullet_client,
urdf_root=self._urdf_root,
time_step=self._time_step,
self_collision_enabled=self._self_collision_enabled,
motor_velocity_limit=self._motor_velocity_limit,
pd_control_enabled=self._pd_control_enabled,
accurate_motor_model_enabled=acc_motor,
motor_kp=self._motor_kp,
motor_kd=self._motor_kd,
torque_control_enabled=self._torque_control_enabled,
motor_overheat_protection=motor_protect,
on_rack=self._on_rack,
kd_for_pd_controllers=self._kd_for_pd_controllers))
else:
self.minitaur.Reset(reload_urdf=False)
self._pybullet_client.resetBasePositionAndOrientation(
self._ballId, ballStartPos, ballStartOrn)
if self._env_randomizer is not None:
self._env_randomizer.randomize_env(self)
self._env_step_counter = 0
self._last_base_position = [0, 0, 0]
self._objectives = []
self._pybullet_client.resetDebugVisualizerCamera(
self._cam_dist, self._cam_yaw, self._cam_pitch, [0, 0, 0])
if not self._torque_control_enabled:
for _ in range(100):
if self._pd_control_enabled or self._accurate_motor_model_enabled:
self.minitaur.ApplyAction([math.pi / 2] * 8)
self._pybullet_client.stepSimulation()
return self._noisy_observation()