Set simulation state from Python API #291
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Hi, this PR will be useful for my work as described in the /issue/343. Any chance to be reviewed and passed? |
nimrod-gileadi
requested changes
Sep 30, 2024
| @@ -170,6 +170,17 @@ grpc::Status AgentService::SetState(grpc::ServerContext* context, | |||
| task->Transition(model, data_); | |||
| agent_.SetState(data_); | |||
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| // Set simulation state | |||
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This needs to be done in ui_agent_service too.
| if (request->set_simulation()) { | ||
| Agent::StepJob job = [&agent_data = data_]( | ||
| Agent* agent, const mjModel* model, mjData* data) { | ||
| mju_copy(data->qpos, agent_data->qpos, model->nq); |
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This code is missing some states. Copy the rest of them: time, act, mocap_pos, mocap_quat, userdata.
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Optionally, set the simulation state (
qpos,qvel,time) via the Python API. Useful for visualizing state estimate in GUI during hardware in-the-loop testing.