Reset simulator to specific state (e.g., state previously seen during an episode)

#1

Hi. Is there a way to reset the environment to a previous state, and restart the simulation from that point forward?

#2

Nudge @lukasz_kidzinski !

He should be able to answer this.

Best of Luck! :smiley:

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#3

Hi! These two functions should do the job


You can access the OpenSim model through

I hope that helps!

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#4

Thanks, for the reply @lukasz_kidzinski! Looks like that’s working :slight_smile:

#5

Hi @lukasz_kidzinski. Is there any way to serialize or correctly populate the environment state if one wants to set copies of the environment running on different process/machines to exactly the same state? Seems like a simple pickle does not work for SWIG objects, so I was thinking if it was possible to serialize the values themselves, and if so, which ones are important.

#6

Hi, you would need to loop through all variables of the state, serialize them and reinitialize the state. We don’t have a function for that yet, but it should be technically possible. Here is some useful starting point


Please follow up in that issue (or start another one in github) – it will be easier for me to bring in developers of OpenSim to the discussion.

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