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Set simulation state from Python API #291

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Set simulation state from Python API #291

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d4fa4c8
set simulation state
thowell Feb 13, 2024
bcb8633
Merge branch 'main' into set_simulation
thowell Feb 13, 2024
112092e
Merge branch 'main' into set_simulation
thowell Mar 3, 2024
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1 change: 1 addition & 0 deletions mjpc/grpc/agent.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,7 @@ message GetStateResponse {

message SetStateRequest {
State state = 1;
bool set_simulation = 2;
}
message SetStateResponse {}

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11 changes: 11 additions & 0 deletions mjpc/grpc/agent_service.cc
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Expand Up @@ -170,6 +170,17 @@ grpc::Status AgentService::SetState(grpc::ServerContext* context,
task->Transition(model, data_);
agent_.SetState(data_);

// 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.

mju_copy(data->qvel, agent_data->qvel, model->nv);
data->time = agent_data->time;
};
agent_.RunBeforeStep(std::move(job));
}

return grpc::Status::OK;
}

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6 changes: 5 additions & 1 deletion python/mujoco_mpc/agent.py
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Expand Up @@ -189,6 +189,7 @@ def set_state(
mocap_pos: Optional[npt.ArrayLike] = None,
mocap_quat: Optional[npt.ArrayLike] = None,
userdata: Optional[npt.ArrayLike] = None,
set_simulation: Optional[bool] = False,
):
"""Set `Agent`'s MuJoCo `data` state.

Expand All @@ -200,6 +201,7 @@ def set_state(
mocap_pos: `data.mocap_pos`.
mocap_quat: `data.mocap_quat`.
userdata: `data.userdata`.
set_simulation: bool, set the simulation state.
"""
# if mocap_pos is an ndarray rather than a list, flatten it
if hasattr(mocap_pos, "flatten"):
Expand All @@ -217,7 +219,9 @@ def set_state(
userdata=userdata if userdata is not None else [],
)

set_state_request = agent_pb2.SetStateRequest(state=state)
set_state_request = agent_pb2.SetStateRequest(
state=state, set_simulation=set_simulation
)
self.stub.SetState(set_state_request)

def get_state(self) -> agent_pb2.State:
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