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))