Rollback to some state stanfordnmbl#79

Moribund7 · Dec 21, 2017 · db2f0c1 · db2f0c1
1 parent 5cc1f30
commit db2f0c1
Showing 1 changed file with 21 additions and 0 deletions.
diff --git a/tests/test.rollback.py b/tests/test.rollback.py
@@ -0,0 +1,21 @@
+from osim.env import RunEnv
+import opensim
+
+env = RunEnv(visualize=True)
+observation = env.reset(seed=0)
+
+s = 0
+for s in range(50000):
+    d = False
+
+    if s == 30:
+        state_old = opensim.State(env.osim_model.state)
+        print("State stored")
+        print(state_old)
+    if s % 50 == 49:
+        env.osim_model.revert(state_old)
+        state_old = opensim.State(state_old)
+        print("Rollback")
+        print(state_old)
+
+    o, r, d, i = env.step(env.action_space.sample())