Add support for simulation reset via a publicly callable API #2648
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This PR adds support for the Reset API to the test fixture. As `TestFixture` is one of the main ways one can get access to the ECM in python when trying to write some scripts for Deep Reinforcement Learning I realized that without `Reset` supported in the `TestFixture` API, end users would have a very hard time using our python APIs (which are actually quite nice). For reference I'm hacking a demo template here: https://github.com/arjo129/gz_deep_rl_experiments/tree/ionic Signed-off-by: Arjo Chakravarty <[email protected]>
This allows us to reset simulations without having to call into gz-transport making the code more readable from an external API. Depends on #2647 Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
9 tasks
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
azeey
reviewed
Nov 5, 2024
| @@ -369,6 +369,9 @@ namespace gz | |||
| /// \brief Set the next step to be blocking and paused. | |||
| public: void SetNextStepAsBlockingPaused(const bool value); | |||
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| /// \brief Reset the current simulation runner | |||
| public: void Reset(const bool all, const bool time, const bool model); | |||
| @@ -338,6 +338,9 @@ namespace gz | |||
| /// \brief Stop the server. This will stop all running simulations. | |||
| public: void Stop(); | |||
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| /// \brief Reset all runners in this simulation | |||
| public: void ResetAll(); | |||
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Any reason to not offer a Reset function that takes a _worldIndex similar to the other APIs in this class?
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🎉 New feature
Closes #
Summary
This allows us to reset simulations without having to call into gz-transport making the code more readable from an external API. Depends on #2647 and also provides a unit test.
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