def __init__(self, robot, render=False):
# print("WalkerBase::__init__ start")
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.stateId = -1
MJCFBaseBulletEnv.__init__(self, robot, render)
self.time_tick = G_Tick #1ms
self.latency = 0.0 # save the latency of most recent returned state
self.latency_max = G_delay_max # max latency in ms
self.max_num_steps = G_max_num_steps # for steps latency will be fixed or change on reset or done after G_max_num_steps.
self.latency_steps = 0
self.steps = 0
self.sampling_interval = G_sampling_min
self.sampling_interval_min = G_sampling_min #30 Hz frequency
#increase the latency within thresholds
self.index = 1
#used to evolve the latency
self.prev_action = None
self.original_timestep = (0.0165 * 1000.0) / 4.0
#used to enable jitter
self.episodic_l = 0.0
self.episodic_si = G_sampling_min
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.prev_action =[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.steps = 0
#update the state with the timing information
if G_TS:
r[26] = self.latency/self.latency_max
r[27] = self.sampling_interval/self.latency_max
return r