def reset(self, initial_motor_angles=None, reset_duration_test=1.0):
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_RENDERING, 0)
if self._env_step_counter > 0:
self.logging.save_episode(self._episode_proto)
self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
minitaur_logging.preallocate_episode_proto(self._episode_proto,
self._num_steps_to_log)
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._ground_id = self._pybullet_client.loadURDF("%s/plane.urdf" %
self._urdf_root)
if (self._reflection):
self._pybullet_client.changeVisualShape(
self._ground_id, -1, rgbaColor=[1, 1, 1, 0.8])
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,
self._ground_id)
self._pybullet_client.setGravity(0, 0, -10)
acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection
self.minitaur = Minitaur(
pybullet_client=self._pybullet_client,
action_repeat=self._action_repeat,
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,
remove_default_joint_damping=self._remove_default_joint_damping,
motor_kp=self._motor_kp,
motor_kd=self._motor_kd,
control_latency=self._control_latency,
pd_latency=self._pd_latency,
observation_noise_stdev=self._observation_noise_stdev,
torque_control_enabled=self._torque_control_enabled,
motor_overheat_protection=motor_protect,
on_rack=self._on_rack)
print('-----Enter Minitaur.Reset2-----')
self.minitaur.Reset(reload_urdf=False,
default_motor_angles=initial_motor_angles,
reset_time=reset_duration_test)
print('-----Exit Minitaur.Reset2------')
for env_randomizer in self._env_randomizers:
env_randomizer.randomize_env(self)
self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)
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])
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_RENDERING, 1)
return self._get_true_observation()
def reset(self, initial_motor_angles=None, reset_duration=1.0):
self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_RENDERING, 0)
if self._env_step_counter > 0:
self.logging.save_episode(self._episode_proto)
self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
minitaur_logging.preallocate_episode_proto(self._episode_proto, self._num_steps_to_log)
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._ground_id = self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root)
if (self._reflection):
self._pybullet_client.changeVisualShape(self._ground_id, -1, rgbaColor=[1, 1, 1, 0.8])
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION, self._ground_id)
self._pybullet_client.setGravity(0, 0, -10)
acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection
if self._urdf_version not in MINIATUR_URDF_VERSION_MAP:
raise ValueError("%s is not a supported urdf_version." % self._urdf_version)
else:
self.minitaur = (MINIATUR_URDF_VERSION_MAP[self._urdf_version](
pybullet_client=self._pybullet_client,
action_repeat=self._action_repeat,
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,
remove_default_joint_damping=self._remove_default_joint_damping,
motor_kp=self._motor_kp,
motor_kd=self._motor_kd,
control_latency=self._control_latency,
pd_latency=self._pd_latency,
observation_noise_stdev=self._observation_noise_stdev,
torque_control_enabled=self._torque_control_enabled,
motor_overheat_protection=motor_protect,
on_rack=self._on_rack))
self.minitaur.Reset(reload_urdf=False,
default_motor_angles=initial_motor_angles,
reset_time=reset_duration)
# Loop over all env randomizers.
for env_randomizer in self._env_randomizers:
env_randomizer.randomize_env(self)
self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)
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])
self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_RENDERING, 1)
return self._get_observation()
def reset(
self,
initial_motor_angles=None,
reset_duration=1.0,
reset_visualization_camera=True,
):
"""Resets the robot's position in the world or rebuild the sim world.
The simulation world will be rebuilt if self._hard_reset is True.
Args:
initial_motor_angles: A list of Floats. The desired joint angles after
reset. If None, the robot will use its built-in value.
reset_duration: Float. The time (in seconds) needed to rotate all motors
to the desired initial values.
reset_visualization_camera: Whether to reset debug visualization camera on
reset.
Returns:
A numpy array contains the initial observation after reset.
"""
self._env_step_counter = 0
self._sim_step_counter = 0
self._last_reset_time = self._clock()
self._metric_logger.reset_episode()
# Clear the simulation world and rebuild the robot interface.
if self._hard_reset:
self._load()
# Resets the scene
self._scene.reset()
# Resets the robot with the provided init parameters.
if self._use_new_robot_class:
self._robot.reset()
else:
self._robot.Reset(reload_urdf=False,
default_motor_angles=initial_motor_angles,
reset_time=reset_duration)
# Flush the logs to disc and reinitialize the logging system.
if self._log_path is not None:
self._logging.save_episode(self._episode_proto)
self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
minitaur_logging.preallocate_episode_proto(self._episode_proto,
_LOG_BUFFER_LENGTH,
self._robot)
# TODO(b/152161124): Move this part to the renderer module.
if reset_visualization_camera:
self._pybullet_client.resetDebugVisualizerCamera(
self._camera_dist, self._camera_yaw, self._camera_pitch,
[0, 0, 0])
# Create an example last action based on the type of action space.
self._last_action = space_utils.create_constant_action(
self.action_space)
for s in self.all_sensors():
s.on_reset(self)
if self._task and hasattr(self._task, 'reset'):
self._task.reset(self)
# Loop over all env randomizers.
for env_randomizer in self._env_randomizers:
env_randomizer.randomize_env(self)
for obj in self._dynamic_objects():
obj.reset()
# Initialize the robot base position.
if self._use_new_robot_class:
self._last_base_position = self._robot.base_position
else:
self._last_base_position = self._robot.GetBasePosition()
# Resets the observations again, since randomizers might change the env.
for s in self.all_sensors():
s.on_reset(self)
self._last_reset_time = self._clock()
return self._get_observation()