def __init__(self, robot, render=False):
print("WalkerBase::__init__")
BaseBulletEnv.__init__(self, robot, render)
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.stateId = -1
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):
if self.stateId >= 0:
# print("restoreState self.stateId:",self.stateId)
self._p.restoreState(self.stateId)
r = BaseBulletEnv._reset(self)
self._p.configureDebugVisualizer(p.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(p.COV_ENABLE_RENDERING, 1)
if self.stateId < 0:
self.stateId = self._p.saveState()
#print("saving state self.stateId:",self.stateId)
return r
def __init__(self):
self.robot = InvertedPendulum()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def __init__(self):
self.robot = Pusher()
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = Thrower()
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = Striker()
BaseBulletEnv.__init__(self, self.robot)
self._striked = False
self._min_strike_dist = np.inf
self.strike_threshold = 0.1