def reset(self): if self.stateId >= 0: self._p.restoreState(self.stateId) r = BaseBulletEnv._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 = BaseBulletEnv._reset(self) if self.stateId < 0: self.stateId = self._p.saveState() # print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId) return r
def reset(self): print('RESETTING') if self.saved_state_id is not None: # print("restoreState self.stateId:",self.stateId) self._p.restoreState(self.saved_state_id) else: BaseBulletEnv._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.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) self.saved_state_id = self._p.saveState() state = self.robot.calc_state(self.target_position_xy) self.last_position = self.robot.body_xyz return state
def reset(self): ## if self.stateId >= 0: ## print("CuboidPegBulletEnv reset p.restoreState(",self.stateId,")") ## self._p.restoreState(self.stateId) r = BaseBulletEnv._reset(self) # for manipulation arena if self.robot.doneLoading == 0: self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(self.robot._p, self.robot.arena) ## if self.stateId < 0: ## self.stateId = self._p.saveState() ## print("CuboidPegBulletEnv reset self.stateId=",self.stateId) return r
def reset(self): if self.saved_state_id is not None: # restore state of pybullet with saved state from first reset self._p.restoreState(self.saved_state_id) else: BaseBulletEnv._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.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) fname = os.path.join(os.path.dirname(__file__), "assets", "target_marker.urdf") print(fname) self.target_marker_id = self._p.loadURDF(fname) self.saved_state_id = self._p.saveState() self.set_target() self.last_distance_to_target = np.linalg.norm( np.array(self.robot.get_pos_xyz()[0:2]) - np.array(self.target_pos)) self.current_step = 0 return self.get_obs()
def reset(self): if self.stateId >= 0: # print("restoreState self.stateId:",self.stateId) self._p.restoreState(self.stateId) r = BaseBulletEnv._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): r = BaseBulletEnv._reset(self) return r
def reset(self): r = BaseBulletEnv._reset(self) return self.observation()
def reset(self): f = BaseBulletEnv._reset(self)[:-3] state = self.observation() state = np.reshape(state, CNN_IMG_WIDTH * CNN_IMG_HEIGHT) return np.concatenate((state, f))