🍒 Saves the initial state for faster reload

simulation/simulation/environment.py

@@ -6,23 +6,29 @@ from simulation.robot import QuadrupedRobot
 
 roll_pitch_reward_weight = 0.1
 
+
 class QuadrupedEnv:
     def __init__(self, urdf_path):
         p.connect(p.GUI)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
         p.setGravity(0, 0, -9.8)
         p.setTimeStep(1 / 240)
+        self.urdf_path = urdf_path
 
-        self.plane_id = p.loadURDF("plane.urdf")
+        self.setupWorld()
 
-        self.robot = QuadrupedRobot(urdf_path)
-        self.reset()
+        self.envStartState = p.saveState()
 
-    def reset(self):
+    def setupWorld(self):
         p.resetSimulation()
         p.setGravity(0, 0, -9.8)
+
         self.plane_id = p.loadURDF("plane.urdf")
-        self.robot.load()
+
+        self.robot = QuadrupedRobot(self.urdf_path)
+
+    def reset(self):
+        p.restoreState(self.envStartState)
         return self.robot.get_observation()
 
     def step(self, action):

simulation/simulation/robot.py

@@ -5,7 +5,7 @@ import numpy as np
 class QuadrupedRobot:
     def __init__(self, urdf_path):
         self.urdf_path = urdf_path
-        self.robot_id = None
+        self.load()
 
     def load(self):
         position = [0, 0, 0.3]