def get_state(self):
"""Serializes the qpos and qvel state of the MuJoCo emulator.
:return: ([float]) state
"""
state = MujocoState.from_mjdata(self.sim.data).flatten()
return state
def set_state(self, x, forward=True):
"""Restores qpos and qvel, calling forward() to derive other values.
:param forward (bool) whether to call forward on the environment.
"""
state = MujocoState.from_flattened(x, self.sim)
state.set_mjdata(self.sim.data)
if forward:
self.sim.model.forward() # put mjData in consistent state
def __init__(self, env):
if hasattr(env, '_max_episode_steps'):
# We step multiple times, then reset to a previous state.
# Timestep limit doesn't make much sense at this level.
# (Instead, apply it outside of the controller.)
raise TypeError("Environment must not have a timestep limit.")
self.env = env
self.sim = getattr_unwrapped(env, 'sim')
state = MujocoState.from_mjdata(self.sim.data).flatten()
self._state_size = len(state)
self._action_size = reduce(lambda x, y: x * y, env.action_space.shape)
def set_state(self, x):
state = MujocoState.from_flattened(x, self.sim)
state.set_mjdata(self.sim.data)
self.sim.forward() # put mjData in consistent state
def get_state(self):
return MujocoState.from_mjdata(self.sim.data).flatten()
def set_state(self, x):
"""Restores qpos and qvel, calling forward() to derive other values."""
state = MujocoState.from_flattened(x, self.sim)
state.set_mjdata(self.sim.data)
self.sim.forward() # put mjData in consistent state
def get_state(self):
"""Serializes the qpos and qvel state of the MuJoCo emulator."""
return MujocoState.from_mjdata(self.sim.data).flatten()